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b/panda/board/obj/version @@ -1 +1 @@ -DEV-d47be809-DEBUG \ No newline at end of file +DEV-459d7c40-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 70f1171af..329994cdc 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_555027713999943867) { - out_555027713999943867[0] = delta_x[0] + nom_x[0]; - out_555027713999943867[1] = delta_x[1] + nom_x[1]; - out_555027713999943867[2] = delta_x[2] + nom_x[2]; - out_555027713999943867[3] = delta_x[3] + nom_x[3]; - out_555027713999943867[4] = delta_x[4] + nom_x[4]; - out_555027713999943867[5] = delta_x[5] + nom_x[5]; - out_555027713999943867[6] = delta_x[6] + nom_x[6]; - out_555027713999943867[7] = delta_x[7] + nom_x[7]; - out_555027713999943867[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3745689373699638561) { + out_3745689373699638561[0] = delta_x[0] + nom_x[0]; + out_3745689373699638561[1] = delta_x[1] + nom_x[1]; + out_3745689373699638561[2] = delta_x[2] + nom_x[2]; + out_3745689373699638561[3] = delta_x[3] + nom_x[3]; + out_3745689373699638561[4] = delta_x[4] + nom_x[4]; + out_3745689373699638561[5] = delta_x[5] + nom_x[5]; + out_3745689373699638561[6] = delta_x[6] + nom_x[6]; + out_3745689373699638561[7] = delta_x[7] + nom_x[7]; + out_3745689373699638561[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) { - out_7816877518147233589[0] = -nom_x[0] + true_x[0]; - out_7816877518147233589[1] = -nom_x[1] + true_x[1]; - out_7816877518147233589[2] = -nom_x[2] + true_x[2]; - out_7816877518147233589[3] = -nom_x[3] + true_x[3]; - out_7816877518147233589[4] = -nom_x[4] + true_x[4]; - out_7816877518147233589[5] = -nom_x[5] + true_x[5]; - out_7816877518147233589[6] = -nom_x[6] + true_x[6]; - out_7816877518147233589[7] = -nom_x[7] + true_x[7]; - out_7816877518147233589[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715) { + out_2400897459040094715[0] = -nom_x[0] + true_x[0]; + out_2400897459040094715[1] = -nom_x[1] + true_x[1]; + out_2400897459040094715[2] = -nom_x[2] + true_x[2]; + out_2400897459040094715[3] = -nom_x[3] + true_x[3]; + out_2400897459040094715[4] = -nom_x[4] + true_x[4]; + out_2400897459040094715[5] = -nom_x[5] + true_x[5]; + out_2400897459040094715[6] = -nom_x[6] + true_x[6]; + out_2400897459040094715[7] = -nom_x[7] + true_x[7]; + out_2400897459040094715[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4533074481319696241) { - out_4533074481319696241[0] = 1.0; - out_4533074481319696241[1] = 0.0; - out_4533074481319696241[2] = 0.0; - out_4533074481319696241[3] = 0.0; - out_4533074481319696241[4] = 0.0; - out_4533074481319696241[5] = 0.0; - out_4533074481319696241[6] = 0.0; - out_4533074481319696241[7] = 0.0; - out_4533074481319696241[8] = 0.0; - out_4533074481319696241[9] = 0.0; - out_4533074481319696241[10] = 1.0; - out_4533074481319696241[11] = 0.0; - out_4533074481319696241[12] = 0.0; - out_4533074481319696241[13] = 0.0; - out_4533074481319696241[14] = 0.0; - out_4533074481319696241[15] = 0.0; - out_4533074481319696241[16] = 0.0; - out_4533074481319696241[17] = 0.0; - out_4533074481319696241[18] = 0.0; - out_4533074481319696241[19] = 0.0; - out_4533074481319696241[20] = 1.0; - out_4533074481319696241[21] = 0.0; - out_4533074481319696241[22] = 0.0; - out_4533074481319696241[23] = 0.0; - out_4533074481319696241[24] = 0.0; - out_4533074481319696241[25] = 0.0; - out_4533074481319696241[26] = 0.0; - out_4533074481319696241[27] = 0.0; - out_4533074481319696241[28] = 0.0; - out_4533074481319696241[29] = 0.0; - out_4533074481319696241[30] = 1.0; - out_4533074481319696241[31] = 0.0; - out_4533074481319696241[32] = 0.0; - out_4533074481319696241[33] = 0.0; - out_4533074481319696241[34] = 0.0; - out_4533074481319696241[35] = 0.0; - out_4533074481319696241[36] = 0.0; - out_4533074481319696241[37] = 0.0; - out_4533074481319696241[38] = 0.0; - out_4533074481319696241[39] = 0.0; - out_4533074481319696241[40] = 1.0; - out_4533074481319696241[41] = 0.0; - out_4533074481319696241[42] = 0.0; - out_4533074481319696241[43] = 0.0; - out_4533074481319696241[44] = 0.0; - out_4533074481319696241[45] = 0.0; - out_4533074481319696241[46] = 0.0; - out_4533074481319696241[47] = 0.0; - out_4533074481319696241[48] = 0.0; - out_4533074481319696241[49] = 0.0; - out_4533074481319696241[50] = 1.0; - out_4533074481319696241[51] = 0.0; - out_4533074481319696241[52] = 0.0; - out_4533074481319696241[53] = 0.0; - out_4533074481319696241[54] = 0.0; - out_4533074481319696241[55] = 0.0; - out_4533074481319696241[56] = 0.0; - out_4533074481319696241[57] = 0.0; - out_4533074481319696241[58] = 0.0; - out_4533074481319696241[59] = 0.0; - out_4533074481319696241[60] = 1.0; - out_4533074481319696241[61] = 0.0; - out_4533074481319696241[62] = 0.0; - out_4533074481319696241[63] = 0.0; - out_4533074481319696241[64] = 0.0; - out_4533074481319696241[65] = 0.0; - out_4533074481319696241[66] = 0.0; - out_4533074481319696241[67] = 0.0; - out_4533074481319696241[68] = 0.0; - out_4533074481319696241[69] = 0.0; - out_4533074481319696241[70] = 1.0; - out_4533074481319696241[71] = 0.0; - out_4533074481319696241[72] = 0.0; - out_4533074481319696241[73] = 0.0; - out_4533074481319696241[74] = 0.0; - out_4533074481319696241[75] = 0.0; - out_4533074481319696241[76] = 0.0; - out_4533074481319696241[77] = 0.0; - out_4533074481319696241[78] = 0.0; - out_4533074481319696241[79] = 0.0; - out_4533074481319696241[80] = 1.0; +void H_mod_fun(double *state, double *out_7767655668809768572) { + out_7767655668809768572[0] = 1.0; + out_7767655668809768572[1] = 0.0; + out_7767655668809768572[2] = 0.0; + out_7767655668809768572[3] = 0.0; + out_7767655668809768572[4] = 0.0; + out_7767655668809768572[5] = 0.0; + out_7767655668809768572[6] = 0.0; + out_7767655668809768572[7] = 0.0; + out_7767655668809768572[8] = 0.0; + out_7767655668809768572[9] = 0.0; + out_7767655668809768572[10] = 1.0; + out_7767655668809768572[11] = 0.0; + out_7767655668809768572[12] = 0.0; + out_7767655668809768572[13] = 0.0; + out_7767655668809768572[14] = 0.0; + out_7767655668809768572[15] = 0.0; + out_7767655668809768572[16] = 0.0; + out_7767655668809768572[17] = 0.0; + out_7767655668809768572[18] = 0.0; + out_7767655668809768572[19] = 0.0; + out_7767655668809768572[20] = 1.0; + out_7767655668809768572[21] = 0.0; + out_7767655668809768572[22] = 0.0; + out_7767655668809768572[23] = 0.0; + out_7767655668809768572[24] = 0.0; + out_7767655668809768572[25] = 0.0; + out_7767655668809768572[26] = 0.0; + out_7767655668809768572[27] = 0.0; + out_7767655668809768572[28] = 0.0; + out_7767655668809768572[29] = 0.0; + out_7767655668809768572[30] = 1.0; + out_7767655668809768572[31] = 0.0; + out_7767655668809768572[32] = 0.0; + out_7767655668809768572[33] = 0.0; + out_7767655668809768572[34] = 0.0; + out_7767655668809768572[35] = 0.0; + out_7767655668809768572[36] = 0.0; + out_7767655668809768572[37] = 0.0; + out_7767655668809768572[38] = 0.0; + out_7767655668809768572[39] = 0.0; + out_7767655668809768572[40] = 1.0; + out_7767655668809768572[41] = 0.0; + out_7767655668809768572[42] = 0.0; + out_7767655668809768572[43] = 0.0; + out_7767655668809768572[44] = 0.0; + out_7767655668809768572[45] = 0.0; + out_7767655668809768572[46] = 0.0; + out_7767655668809768572[47] = 0.0; + out_7767655668809768572[48] = 0.0; + out_7767655668809768572[49] = 0.0; + out_7767655668809768572[50] = 1.0; + out_7767655668809768572[51] = 0.0; + out_7767655668809768572[52] = 0.0; + out_7767655668809768572[53] = 0.0; + out_7767655668809768572[54] = 0.0; + out_7767655668809768572[55] = 0.0; + out_7767655668809768572[56] = 0.0; + out_7767655668809768572[57] = 0.0; + out_7767655668809768572[58] = 0.0; + out_7767655668809768572[59] = 0.0; + out_7767655668809768572[60] = 1.0; + out_7767655668809768572[61] = 0.0; + out_7767655668809768572[62] = 0.0; + out_7767655668809768572[63] = 0.0; + out_7767655668809768572[64] = 0.0; + out_7767655668809768572[65] = 0.0; + out_7767655668809768572[66] = 0.0; + out_7767655668809768572[67] = 0.0; + out_7767655668809768572[68] = 0.0; + out_7767655668809768572[69] = 0.0; + out_7767655668809768572[70] = 1.0; + out_7767655668809768572[71] = 0.0; + out_7767655668809768572[72] = 0.0; + out_7767655668809768572[73] = 0.0; + out_7767655668809768572[74] = 0.0; + out_7767655668809768572[75] = 0.0; + out_7767655668809768572[76] = 0.0; + out_7767655668809768572[77] = 0.0; + out_7767655668809768572[78] = 0.0; + out_7767655668809768572[79] = 0.0; + out_7767655668809768572[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5039337670867030572) { - out_5039337670867030572[0] = state[0]; - out_5039337670867030572[1] = state[1]; - out_5039337670867030572[2] = state[2]; - out_5039337670867030572[3] = state[3]; - out_5039337670867030572[4] = state[4]; - out_5039337670867030572[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_5039337670867030572[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_5039337670867030572[7] = state[7]; - out_5039337670867030572[8] = state[8]; +void f_fun(double *state, double dt, double *out_3612821593330881774) { + out_3612821593330881774[0] = state[0]; + out_3612821593330881774[1] = state[1]; + out_3612821593330881774[2] = state[2]; + out_3612821593330881774[3] = state[3]; + out_3612821593330881774[4] = state[4]; + out_3612821593330881774[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_3612821593330881774[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_3612821593330881774[7] = state[7]; + out_3612821593330881774[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5181832378332727216) { - out_5181832378332727216[0] = 1; - out_5181832378332727216[1] = 0; - out_5181832378332727216[2] = 0; - out_5181832378332727216[3] = 0; - out_5181832378332727216[4] = 0; - out_5181832378332727216[5] = 0; - out_5181832378332727216[6] = 0; - out_5181832378332727216[7] = 0; - out_5181832378332727216[8] = 0; - out_5181832378332727216[9] = 0; - out_5181832378332727216[10] = 1; - out_5181832378332727216[11] = 0; - out_5181832378332727216[12] = 0; - out_5181832378332727216[13] = 0; - out_5181832378332727216[14] = 0; - out_5181832378332727216[15] = 0; - out_5181832378332727216[16] = 0; - out_5181832378332727216[17] = 0; - out_5181832378332727216[18] = 0; - out_5181832378332727216[19] = 0; - out_5181832378332727216[20] = 1; - out_5181832378332727216[21] = 0; - out_5181832378332727216[22] = 0; - out_5181832378332727216[23] = 0; - out_5181832378332727216[24] = 0; - out_5181832378332727216[25] = 0; - out_5181832378332727216[26] = 0; - out_5181832378332727216[27] = 0; - out_5181832378332727216[28] = 0; - out_5181832378332727216[29] = 0; - out_5181832378332727216[30] = 1; - out_5181832378332727216[31] = 0; - out_5181832378332727216[32] = 0; - out_5181832378332727216[33] = 0; - out_5181832378332727216[34] = 0; - out_5181832378332727216[35] = 0; - out_5181832378332727216[36] = 0; - out_5181832378332727216[37] = 0; - out_5181832378332727216[38] = 0; - out_5181832378332727216[39] = 0; - out_5181832378332727216[40] = 1; - out_5181832378332727216[41] = 0; - out_5181832378332727216[42] = 0; - out_5181832378332727216[43] = 0; - out_5181832378332727216[44] = 0; - out_5181832378332727216[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_5181832378332727216[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5181832378332727216[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5181832378332727216[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5181832378332727216[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_5181832378332727216[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5181832378332727216[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5181832378332727216[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5181832378332727216[53] = -9.8100000000000005*dt; - out_5181832378332727216[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_5181832378332727216[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5181832378332727216[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5181832378332727216[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5181832378332727216[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_5181832378332727216[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5181832378332727216[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_5181832378332727216[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5181832378332727216[62] = 0; - out_5181832378332727216[63] = 0; - out_5181832378332727216[64] = 0; - out_5181832378332727216[65] = 0; - out_5181832378332727216[66] = 0; - out_5181832378332727216[67] = 0; - out_5181832378332727216[68] = 0; - out_5181832378332727216[69] = 0; - out_5181832378332727216[70] = 1; - out_5181832378332727216[71] = 0; - out_5181832378332727216[72] = 0; - out_5181832378332727216[73] = 0; - out_5181832378332727216[74] = 0; - out_5181832378332727216[75] = 0; - out_5181832378332727216[76] = 0; - out_5181832378332727216[77] = 0; - out_5181832378332727216[78] = 0; - out_5181832378332727216[79] = 0; - out_5181832378332727216[80] = 1; +void F_fun(double *state, double dt, double *out_2179834667538047746) { + out_2179834667538047746[0] = 1; + out_2179834667538047746[1] = 0; + out_2179834667538047746[2] = 0; + out_2179834667538047746[3] = 0; + out_2179834667538047746[4] = 0; + out_2179834667538047746[5] = 0; + out_2179834667538047746[6] = 0; + out_2179834667538047746[7] = 0; + out_2179834667538047746[8] = 0; + out_2179834667538047746[9] = 0; + out_2179834667538047746[10] = 1; + out_2179834667538047746[11] = 0; + out_2179834667538047746[12] = 0; + out_2179834667538047746[13] = 0; + out_2179834667538047746[14] = 0; + out_2179834667538047746[15] = 0; + out_2179834667538047746[16] = 0; + out_2179834667538047746[17] = 0; + out_2179834667538047746[18] = 0; + out_2179834667538047746[19] = 0; + out_2179834667538047746[20] = 1; + out_2179834667538047746[21] = 0; + out_2179834667538047746[22] = 0; + out_2179834667538047746[23] = 0; + out_2179834667538047746[24] = 0; + out_2179834667538047746[25] = 0; + out_2179834667538047746[26] = 0; + out_2179834667538047746[27] = 0; + out_2179834667538047746[28] = 0; + out_2179834667538047746[29] = 0; + out_2179834667538047746[30] = 1; + out_2179834667538047746[31] = 0; + out_2179834667538047746[32] = 0; + out_2179834667538047746[33] = 0; + out_2179834667538047746[34] = 0; + out_2179834667538047746[35] = 0; + out_2179834667538047746[36] = 0; + out_2179834667538047746[37] = 0; + out_2179834667538047746[38] = 0; + out_2179834667538047746[39] = 0; + out_2179834667538047746[40] = 1; + out_2179834667538047746[41] = 0; + out_2179834667538047746[42] = 0; + out_2179834667538047746[43] = 0; + out_2179834667538047746[44] = 0; + out_2179834667538047746[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_2179834667538047746[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2179834667538047746[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2179834667538047746[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2179834667538047746[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_2179834667538047746[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2179834667538047746[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2179834667538047746[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2179834667538047746[53] = -9.8100000000000005*dt; + out_2179834667538047746[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_2179834667538047746[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2179834667538047746[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2179834667538047746[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2179834667538047746[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_2179834667538047746[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2179834667538047746[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_2179834667538047746[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2179834667538047746[62] = 0; + out_2179834667538047746[63] = 0; + out_2179834667538047746[64] = 0; + out_2179834667538047746[65] = 0; + out_2179834667538047746[66] = 0; + out_2179834667538047746[67] = 0; + out_2179834667538047746[68] = 0; + out_2179834667538047746[69] = 0; + out_2179834667538047746[70] = 1; + out_2179834667538047746[71] = 0; + out_2179834667538047746[72] = 0; + out_2179834667538047746[73] = 0; + out_2179834667538047746[74] = 0; + out_2179834667538047746[75] = 0; + out_2179834667538047746[76] = 0; + out_2179834667538047746[77] = 0; + out_2179834667538047746[78] = 0; + out_2179834667538047746[79] = 0; + out_2179834667538047746[80] = 1; } -void h_25(double *state, double *unused, double *out_9064502358369772671) { - out_9064502358369772671[0] = state[6]; +void h_25(double *state, double *unused, double *out_6182136655387767236) { + out_6182136655387767236[0] = state[6]; } -void H_25(double *state, double *unused, double *out_9009977767205190535) { - out_9009977767205190535[0] = 0; - out_9009977767205190535[1] = 0; - out_9009977767205190535[2] = 0; - out_9009977767205190535[3] = 0; - out_9009977767205190535[4] = 0; - out_9009977767205190535[5] = 0; - out_9009977767205190535[6] = 1; - out_9009977767205190535[7] = 0; - out_9009977767205190535[8] = 0; +void H_25(double *state, double *unused, double *out_2863963843625103732) { + out_2863963843625103732[0] = 0; + out_2863963843625103732[1] = 0; + out_2863963843625103732[2] = 0; + out_2863963843625103732[3] = 0; + out_2863963843625103732[4] = 0; + out_2863963843625103732[5] = 0; + out_2863963843625103732[6] = 1; + out_2863963843625103732[7] = 0; + out_2863963843625103732[8] = 0; } -void h_24(double *state, double *unused, double *out_4315668618686905201) { - out_4315668618686905201[0] = state[4]; - out_4315668618686905201[1] = state[5]; +void h_24(double *state, double *unused, double *out_7699556082354746130) { + out_7699556082354746130[0] = state[4]; + out_7699556082354746130[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4579303311377586733) { - out_4579303311377586733[0] = 0; - out_4579303311377586733[1] = 0; - out_4579303311377586733[2] = 0; - out_4579303311377586733[3] = 0; - out_4579303311377586733[4] = 1; - out_4579303311377586733[5] = 0; - out_4579303311377586733[6] = 0; - out_4579303311377586733[7] = 0; - out_4579303311377586733[8] = 0; - out_4579303311377586733[9] = 0; - out_4579303311377586733[10] = 0; - out_4579303311377586733[11] = 0; - out_4579303311377586733[12] = 0; - out_4579303311377586733[13] = 0; - out_4579303311377586733[14] = 1; - out_4579303311377586733[15] = 0; - out_4579303311377586733[16] = 0; - out_4579303311377586733[17] = 0; +void H_24(double *state, double *unused, double *out_8991184345786785929) { + out_8991184345786785929[0] = 0; + out_8991184345786785929[1] = 0; + out_8991184345786785929[2] = 0; + out_8991184345786785929[3] = 0; + out_8991184345786785929[4] = 1; + out_8991184345786785929[5] = 0; + out_8991184345786785929[6] = 0; + out_8991184345786785929[7] = 0; + out_8991184345786785929[8] = 0; + out_8991184345786785929[9] = 0; + out_8991184345786785929[10] = 0; + out_8991184345786785929[11] = 0; + out_8991184345786785929[12] = 0; + out_8991184345786785929[13] = 0; + out_8991184345786785929[14] = 1; + out_8991184345786785929[15] = 0; + out_8991184345786785929[16] = 0; + out_8991184345786785929[17] = 0; } -void h_30(double *state, double *unused, double *out_8507922675073509890) { - out_8507922675073509890[0] = state[4]; +void h_30(double *state, double *unused, double *out_3234410665032282275) { + out_3234410665032282275[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2093287425713573780) { - out_2093287425713573780[0] = 0; - out_2093287425713573780[1] = 0; - out_2093287425713573780[2] = 0; - out_2093287425713573780[3] = 0; - out_2093287425713573780[4] = 1; - out_2093287425713573780[5] = 0; - out_2093287425713573780[6] = 0; - out_2093287425713573780[7] = 0; - out_2093287425713573780[8] = 0; +void H_30(double *state, double *unused, double *out_345630885117855105) { + out_345630885117855105[0] = 0; + out_345630885117855105[1] = 0; + out_345630885117855105[2] = 0; + out_345630885117855105[3] = 0; + out_345630885117855105[4] = 1; + out_345630885117855105[5] = 0; + out_345630885117855105[6] = 0; + out_345630885117855105[7] = 0; + out_345630885117855105[8] = 0; } -void h_26(double *state, double *unused, double *out_4180836484642303770) { - out_4180836484642303770[0] = state[7]; +void h_26(double *state, double *unused, double *out_8236083932693127920) { + out_8236083932693127920[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5695262987630304857) { - out_5695262987630304857[0] = 0; - out_5695262987630304857[1] = 0; - out_5695262987630304857[2] = 0; - out_5695262987630304857[3] = 0; - out_5695262987630304857[4] = 0; - out_5695262987630304857[5] = 0; - out_5695262987630304857[6] = 0; - out_5695262987630304857[7] = 1; - out_5695262987630304857[8] = 0; +void H_26(double *state, double *unused, double *out_6605467162499159956) { + out_6605467162499159956[0] = 0; + out_6605467162499159956[1] = 0; + out_6605467162499159956[2] = 0; + out_6605467162499159956[3] = 0; + out_6605467162499159956[4] = 0; + out_6605467162499159956[5] = 0; + out_6605467162499159956[6] = 0; + out_6605467162499159956[7] = 1; + out_6605467162499159956[8] = 0; } -void h_27(double *state, double *unused, double *out_4062829090708927026) { - out_4062829090708927026[0] = state[3]; +void h_27(double *state, double *unused, double *out_5200052562052469124) { + out_5200052562052469124[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4268050737513998691) { - out_4268050737513998691[0] = 0; - out_4268050737513998691[1] = 0; - out_4268050737513998691[2] = 0; - out_4268050737513998691[3] = 1; - out_4268050737513998691[4] = 0; - out_4268050737513998691[5] = 0; - out_4268050737513998691[6] = 0; - out_4268050737513998691[7] = 0; - out_4268050737513998691[8] = 0; +void H_27(double *state, double *unused, double *out_1877963186066088112) { + out_1877963186066088112[0] = 0; + out_1877963186066088112[1] = 0; + out_1877963186066088112[2] = 0; + out_1877963186066088112[3] = 1; + out_1877963186066088112[4] = 0; + out_1877963186066088112[5] = 0; + out_1877963186066088112[6] = 0; + out_1877963186066088112[7] = 0; + out_1877963186066088112[8] = 0; } -void h_29(double *state, double *unused, double *out_7564412822171847455) { - out_7564412822171847455[0] = state[1]; +void h_29(double *state, double *unused, double *out_1767262602628563370) { + out_1767262602628563370[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5981413464383549724) { - out_5981413464383549724[0] = 0; - out_5981413464383549724[1] = 1; - out_5981413464383549724[2] = 0; - out_5981413464383549724[3] = 0; - out_5981413464383549724[4] = 0; - out_5981413464383549724[5] = 0; - out_5981413464383549724[6] = 0; - out_5981413464383549724[7] = 0; - out_5981413464383549724[8] = 0; +void H_29(double *state, double *unused, double *out_164600459196537079) { + out_164600459196537079[0] = 0; + out_164600459196537079[1] = 1; + out_164600459196537079[2] = 0; + out_164600459196537079[3] = 0; + out_164600459196537079[4] = 0; + out_164600459196537079[5] = 0; + out_164600459196537079[6] = 0; + out_164600459196537079[7] = 0; + out_164600459196537079[8] = 0; } -void h_28(double *state, double *unused, double *out_1579900780372029809) { - out_1579900780372029809[0] = state[0]; +void h_28(double *state, double *unused, double *out_8284311513975789260) { + out_8284311513975789260[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7382931592256471318) { - out_7382931592256471318[0] = 1; - out_7382931592256471318[1] = 0; - out_7382931592256471318[2] = 0; - out_7382931592256471318[3] = 0; - out_7382931592256471318[4] = 0; - out_7382931592256471318[5] = 0; - out_7382931592256471318[6] = 0; - out_7382931592256471318[7] = 0; - out_7382931592256471318[8] = 0; +void H_28(double *state, double *unused, double *out_4917798557872993495) { + out_4917798557872993495[0] = 1; + out_4917798557872993495[1] = 0; + out_4917798557872993495[2] = 0; + out_4917798557872993495[3] = 0; + out_4917798557872993495[4] = 0; + out_4917798557872993495[5] = 0; + out_4917798557872993495[6] = 0; + out_4917798557872993495[7] = 0; + out_4917798557872993495[8] = 0; } -void h_31(double *state, double *unused, double *out_6613551970606485049) { - out_6613551970606485049[0] = state[8]; +void h_31(double *state, double *unused, double *out_588698570962583700) { + out_588698570962583700[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8979331805328230107) { - out_8979331805328230107[0] = 0; - out_8979331805328230107[1] = 0; - out_8979331805328230107[2] = 0; - out_8979331805328230107[3] = 0; - out_8979331805328230107[4] = 0; - out_8979331805328230107[5] = 0; - out_8979331805328230107[6] = 0; - out_8979331805328230107[7] = 0; - out_8979331805328230107[8] = 1; +void H_31(double *state, double *unused, double *out_7231675264732511432) { + out_7231675264732511432[0] = 0; + out_7231675264732511432[1] = 0; + out_7231675264732511432[2] = 0; + out_7231675264732511432[3] = 0; + out_7231675264732511432[4] = 0; + out_7231675264732511432[5] = 0; + out_7231675264732511432[6] = 0; + out_7231675264732511432[7] = 0; + out_7231675264732511432[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_555027713999943867) { - err_fun(nom_x, delta_x, out_555027713999943867); +void car_err_fun(double *nom_x, double *delta_x, double *out_3745689373699638561) { + err_fun(nom_x, delta_x, out_3745689373699638561); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589) { - inv_err_fun(nom_x, true_x, out_7816877518147233589); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715) { + inv_err_fun(nom_x, true_x, out_2400897459040094715); } -void car_H_mod_fun(double *state, double *out_4533074481319696241) { - H_mod_fun(state, out_4533074481319696241); +void car_H_mod_fun(double *state, double *out_7767655668809768572) { + H_mod_fun(state, out_7767655668809768572); } -void car_f_fun(double *state, double dt, double *out_5039337670867030572) { - f_fun(state, dt, out_5039337670867030572); +void car_f_fun(double *state, double dt, double *out_3612821593330881774) { + f_fun(state, dt, out_3612821593330881774); } -void car_F_fun(double *state, double dt, double *out_5181832378332727216) { - F_fun(state, dt, out_5181832378332727216); +void car_F_fun(double *state, double dt, double *out_2179834667538047746) { + F_fun(state, dt, out_2179834667538047746); } -void car_h_25(double *state, double *unused, double *out_9064502358369772671) { - h_25(state, unused, out_9064502358369772671); +void car_h_25(double *state, double *unused, double *out_6182136655387767236) { + h_25(state, unused, out_6182136655387767236); } -void car_H_25(double *state, double *unused, double *out_9009977767205190535) { - H_25(state, unused, out_9009977767205190535); +void car_H_25(double *state, double *unused, double *out_2863963843625103732) { + H_25(state, unused, out_2863963843625103732); } -void car_h_24(double *state, double *unused, double *out_4315668618686905201) { - h_24(state, unused, out_4315668618686905201); +void car_h_24(double *state, double *unused, double *out_7699556082354746130) { + h_24(state, unused, out_7699556082354746130); } -void car_H_24(double *state, double *unused, double *out_4579303311377586733) { - H_24(state, unused, out_4579303311377586733); +void car_H_24(double *state, double *unused, double *out_8991184345786785929) { + H_24(state, unused, out_8991184345786785929); } -void car_h_30(double *state, double *unused, double *out_8507922675073509890) { - h_30(state, unused, out_8507922675073509890); +void car_h_30(double *state, double *unused, double *out_3234410665032282275) { + h_30(state, unused, out_3234410665032282275); } -void car_H_30(double *state, double *unused, double *out_2093287425713573780) { - H_30(state, unused, out_2093287425713573780); +void car_H_30(double *state, double *unused, double *out_345630885117855105) { + H_30(state, unused, out_345630885117855105); } -void car_h_26(double *state, double *unused, double *out_4180836484642303770) { - h_26(state, unused, out_4180836484642303770); +void car_h_26(double *state, double *unused, double *out_8236083932693127920) { + h_26(state, unused, out_8236083932693127920); } -void car_H_26(double *state, double *unused, double *out_5695262987630304857) { - H_26(state, unused, out_5695262987630304857); +void car_H_26(double *state, double *unused, double *out_6605467162499159956) { + H_26(state, unused, out_6605467162499159956); } -void car_h_27(double *state, double *unused, double *out_4062829090708927026) { - h_27(state, unused, out_4062829090708927026); +void car_h_27(double *state, double *unused, double *out_5200052562052469124) { + h_27(state, unused, out_5200052562052469124); } -void car_H_27(double *state, double *unused, double *out_4268050737513998691) { - H_27(state, unused, out_4268050737513998691); +void car_H_27(double *state, double *unused, double *out_1877963186066088112) { + H_27(state, unused, out_1877963186066088112); } -void car_h_29(double *state, double *unused, double *out_7564412822171847455) { - h_29(state, unused, out_7564412822171847455); +void car_h_29(double *state, double *unused, double *out_1767262602628563370) { + h_29(state, unused, out_1767262602628563370); } -void car_H_29(double *state, double *unused, double *out_5981413464383549724) { - H_29(state, unused, out_5981413464383549724); +void car_H_29(double *state, double *unused, double *out_164600459196537079) { + H_29(state, unused, out_164600459196537079); } -void car_h_28(double *state, double *unused, double *out_1579900780372029809) { - h_28(state, unused, out_1579900780372029809); +void car_h_28(double *state, double *unused, double *out_8284311513975789260) { + h_28(state, unused, out_8284311513975789260); } -void car_H_28(double *state, double *unused, double *out_7382931592256471318) { - H_28(state, unused, out_7382931592256471318); +void car_H_28(double *state, double *unused, double *out_4917798557872993495) { + H_28(state, unused, out_4917798557872993495); } -void car_h_31(double *state, double *unused, double *out_6613551970606485049) { - h_31(state, unused, out_6613551970606485049); +void car_h_31(double *state, double *unused, double *out_588698570962583700) { + h_31(state, unused, out_588698570962583700); } -void car_H_31(double *state, double *unused, double *out_8979331805328230107) { - H_31(state, unused, out_8979331805328230107); +void car_H_31(double *state, double *unused, double *out_7231675264732511432) { + H_31(state, unused, out_7231675264732511432); } 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 3c27364b3..ae1d7f602 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_555027713999943867); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7816877518147233589); -void car_H_mod_fun(double *state, double *out_4533074481319696241); -void car_f_fun(double *state, double dt, double *out_5039337670867030572); -void car_F_fun(double *state, double dt, double *out_5181832378332727216); -void car_h_25(double *state, double *unused, double *out_9064502358369772671); -void car_H_25(double *state, double *unused, double *out_9009977767205190535); -void car_h_24(double *state, double *unused, double *out_4315668618686905201); -void car_H_24(double *state, double *unused, double *out_4579303311377586733); -void car_h_30(double *state, double *unused, double *out_8507922675073509890); -void car_H_30(double *state, double *unused, double *out_2093287425713573780); -void car_h_26(double *state, double *unused, double *out_4180836484642303770); -void car_H_26(double *state, double *unused, double *out_5695262987630304857); -void car_h_27(double *state, double *unused, double *out_4062829090708927026); -void car_H_27(double *state, double *unused, double *out_4268050737513998691); -void car_h_29(double *state, double *unused, double *out_7564412822171847455); -void car_H_29(double *state, double *unused, double *out_5981413464383549724); -void car_h_28(double *state, double *unused, double *out_1579900780372029809); -void car_H_28(double *state, double *unused, double *out_7382931592256471318); -void car_h_31(double *state, double *unused, double *out_6613551970606485049); -void car_H_31(double *state, double *unused, double *out_8979331805328230107); +void car_err_fun(double *nom_x, double *delta_x, double *out_3745689373699638561); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2400897459040094715); +void car_H_mod_fun(double *state, double *out_7767655668809768572); +void car_f_fun(double *state, double dt, double *out_3612821593330881774); +void car_F_fun(double *state, double dt, double *out_2179834667538047746); +void car_h_25(double *state, double *unused, double *out_6182136655387767236); +void car_H_25(double *state, double *unused, double *out_2863963843625103732); +void car_h_24(double *state, double *unused, double *out_7699556082354746130); +void car_H_24(double *state, double *unused, double *out_8991184345786785929); +void car_h_30(double *state, double *unused, double *out_3234410665032282275); +void car_H_30(double *state, double *unused, double *out_345630885117855105); +void car_h_26(double *state, double *unused, double *out_8236083932693127920); +void car_H_26(double *state, double *unused, double *out_6605467162499159956); +void car_h_27(double *state, double *unused, double *out_5200052562052469124); +void car_H_27(double *state, double *unused, double *out_1877963186066088112); +void car_h_29(double *state, double *unused, double *out_1767262602628563370); +void car_H_29(double *state, double *unused, double *out_164600459196537079); +void car_h_28(double *state, double *unused, double *out_8284311513975789260); +void car_H_28(double *state, double *unused, double *out_4917798557872993495); +void car_h_31(double *state, double *unused, double *out_588698570962583700); +void car_H_31(double *state, double *unused, double *out_7231675264732511432); 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 a7494d4c5..4fd53c1fe 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_7828077856483360191) { - out_7828077856483360191[0] = delta_x[0] + nom_x[0]; - out_7828077856483360191[1] = delta_x[1] + nom_x[1]; - out_7828077856483360191[2] = delta_x[2] + nom_x[2]; - out_7828077856483360191[3] = delta_x[3] + nom_x[3]; - out_7828077856483360191[4] = delta_x[4] + nom_x[4]; - out_7828077856483360191[5] = delta_x[5] + nom_x[5]; - out_7828077856483360191[6] = delta_x[6] + nom_x[6]; - out_7828077856483360191[7] = delta_x[7] + nom_x[7]; - out_7828077856483360191[8] = delta_x[8] + nom_x[8]; - out_7828077856483360191[9] = delta_x[9] + nom_x[9]; - out_7828077856483360191[10] = delta_x[10] + nom_x[10]; - out_7828077856483360191[11] = delta_x[11] + nom_x[11]; - out_7828077856483360191[12] = delta_x[12] + nom_x[12]; - out_7828077856483360191[13] = delta_x[13] + nom_x[13]; - out_7828077856483360191[14] = delta_x[14] + nom_x[14]; - out_7828077856483360191[15] = delta_x[15] + nom_x[15]; - out_7828077856483360191[16] = delta_x[16] + nom_x[16]; - out_7828077856483360191[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5813097801788606117) { + out_5813097801788606117[0] = delta_x[0] + nom_x[0]; + out_5813097801788606117[1] = delta_x[1] + nom_x[1]; + out_5813097801788606117[2] = delta_x[2] + nom_x[2]; + out_5813097801788606117[3] = delta_x[3] + nom_x[3]; + out_5813097801788606117[4] = delta_x[4] + nom_x[4]; + out_5813097801788606117[5] = delta_x[5] + nom_x[5]; + out_5813097801788606117[6] = delta_x[6] + nom_x[6]; + out_5813097801788606117[7] = delta_x[7] + nom_x[7]; + out_5813097801788606117[8] = delta_x[8] + nom_x[8]; + out_5813097801788606117[9] = delta_x[9] + nom_x[9]; + out_5813097801788606117[10] = delta_x[10] + nom_x[10]; + out_5813097801788606117[11] = delta_x[11] + nom_x[11]; + out_5813097801788606117[12] = delta_x[12] + nom_x[12]; + out_5813097801788606117[13] = delta_x[13] + nom_x[13]; + out_5813097801788606117[14] = delta_x[14] + nom_x[14]; + out_5813097801788606117[15] = delta_x[15] + nom_x[15]; + out_5813097801788606117[16] = delta_x[16] + nom_x[16]; + out_5813097801788606117[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250) { - out_978622641958652250[0] = -nom_x[0] + true_x[0]; - out_978622641958652250[1] = -nom_x[1] + true_x[1]; - out_978622641958652250[2] = -nom_x[2] + true_x[2]; - out_978622641958652250[3] = -nom_x[3] + true_x[3]; - out_978622641958652250[4] = -nom_x[4] + true_x[4]; - out_978622641958652250[5] = -nom_x[5] + true_x[5]; - out_978622641958652250[6] = -nom_x[6] + true_x[6]; - out_978622641958652250[7] = -nom_x[7] + true_x[7]; - out_978622641958652250[8] = -nom_x[8] + true_x[8]; - out_978622641958652250[9] = -nom_x[9] + true_x[9]; - out_978622641958652250[10] = -nom_x[10] + true_x[10]; - out_978622641958652250[11] = -nom_x[11] + true_x[11]; - out_978622641958652250[12] = -nom_x[12] + true_x[12]; - out_978622641958652250[13] = -nom_x[13] + true_x[13]; - out_978622641958652250[14] = -nom_x[14] + true_x[14]; - out_978622641958652250[15] = -nom_x[15] + true_x[15]; - out_978622641958652250[16] = -nom_x[16] + true_x[16]; - out_978622641958652250[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274) { + out_265932847343752274[0] = -nom_x[0] + true_x[0]; + out_265932847343752274[1] = -nom_x[1] + true_x[1]; + out_265932847343752274[2] = -nom_x[2] + true_x[2]; + out_265932847343752274[3] = -nom_x[3] + true_x[3]; + out_265932847343752274[4] = -nom_x[4] + true_x[4]; + out_265932847343752274[5] = -nom_x[5] + true_x[5]; + out_265932847343752274[6] = -nom_x[6] + true_x[6]; + out_265932847343752274[7] = -nom_x[7] + true_x[7]; + out_265932847343752274[8] = -nom_x[8] + true_x[8]; + out_265932847343752274[9] = -nom_x[9] + true_x[9]; + out_265932847343752274[10] = -nom_x[10] + true_x[10]; + out_265932847343752274[11] = -nom_x[11] + true_x[11]; + out_265932847343752274[12] = -nom_x[12] + true_x[12]; + out_265932847343752274[13] = -nom_x[13] + true_x[13]; + out_265932847343752274[14] = -nom_x[14] + true_x[14]; + out_265932847343752274[15] = -nom_x[15] + true_x[15]; + out_265932847343752274[16] = -nom_x[16] + true_x[16]; + out_265932847343752274[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7441553898687288237) { - out_7441553898687288237[0] = 1.0; - out_7441553898687288237[1] = 0.0; - out_7441553898687288237[2] = 0.0; - out_7441553898687288237[3] = 0.0; - out_7441553898687288237[4] = 0.0; - out_7441553898687288237[5] = 0.0; - out_7441553898687288237[6] = 0.0; - out_7441553898687288237[7] = 0.0; - out_7441553898687288237[8] = 0.0; - out_7441553898687288237[9] = 0.0; - out_7441553898687288237[10] = 0.0; - out_7441553898687288237[11] = 0.0; - out_7441553898687288237[12] = 0.0; - out_7441553898687288237[13] = 0.0; - out_7441553898687288237[14] = 0.0; - out_7441553898687288237[15] = 0.0; - out_7441553898687288237[16] = 0.0; - out_7441553898687288237[17] = 0.0; - out_7441553898687288237[18] = 0.0; - out_7441553898687288237[19] = 1.0; - out_7441553898687288237[20] = 0.0; - out_7441553898687288237[21] = 0.0; - out_7441553898687288237[22] = 0.0; - out_7441553898687288237[23] = 0.0; - out_7441553898687288237[24] = 0.0; - out_7441553898687288237[25] = 0.0; - out_7441553898687288237[26] = 0.0; - out_7441553898687288237[27] = 0.0; - out_7441553898687288237[28] = 0.0; - out_7441553898687288237[29] = 0.0; - out_7441553898687288237[30] = 0.0; - out_7441553898687288237[31] = 0.0; - out_7441553898687288237[32] = 0.0; - out_7441553898687288237[33] = 0.0; - out_7441553898687288237[34] = 0.0; - out_7441553898687288237[35] = 0.0; - out_7441553898687288237[36] = 0.0; - out_7441553898687288237[37] = 0.0; - out_7441553898687288237[38] = 1.0; - out_7441553898687288237[39] = 0.0; - out_7441553898687288237[40] = 0.0; - out_7441553898687288237[41] = 0.0; - out_7441553898687288237[42] = 0.0; - out_7441553898687288237[43] = 0.0; - out_7441553898687288237[44] = 0.0; - out_7441553898687288237[45] = 0.0; - out_7441553898687288237[46] = 0.0; - out_7441553898687288237[47] = 0.0; - out_7441553898687288237[48] = 0.0; - out_7441553898687288237[49] = 0.0; - out_7441553898687288237[50] = 0.0; - out_7441553898687288237[51] = 0.0; - out_7441553898687288237[52] = 0.0; - out_7441553898687288237[53] = 0.0; - out_7441553898687288237[54] = 0.0; - out_7441553898687288237[55] = 0.0; - out_7441553898687288237[56] = 0.0; - out_7441553898687288237[57] = 1.0; - out_7441553898687288237[58] = 0.0; - out_7441553898687288237[59] = 0.0; - out_7441553898687288237[60] = 0.0; - out_7441553898687288237[61] = 0.0; - out_7441553898687288237[62] = 0.0; - out_7441553898687288237[63] = 0.0; - out_7441553898687288237[64] = 0.0; - out_7441553898687288237[65] = 0.0; - out_7441553898687288237[66] = 0.0; - out_7441553898687288237[67] = 0.0; - out_7441553898687288237[68] = 0.0; - out_7441553898687288237[69] = 0.0; - out_7441553898687288237[70] = 0.0; - out_7441553898687288237[71] = 0.0; - out_7441553898687288237[72] = 0.0; - out_7441553898687288237[73] = 0.0; - out_7441553898687288237[74] = 0.0; - out_7441553898687288237[75] = 0.0; - out_7441553898687288237[76] = 1.0; - out_7441553898687288237[77] = 0.0; - out_7441553898687288237[78] = 0.0; - out_7441553898687288237[79] = 0.0; - out_7441553898687288237[80] = 0.0; - out_7441553898687288237[81] = 0.0; - out_7441553898687288237[82] = 0.0; - out_7441553898687288237[83] = 0.0; - out_7441553898687288237[84] = 0.0; - out_7441553898687288237[85] = 0.0; - out_7441553898687288237[86] = 0.0; - out_7441553898687288237[87] = 0.0; - out_7441553898687288237[88] = 0.0; - out_7441553898687288237[89] = 0.0; - out_7441553898687288237[90] = 0.0; - out_7441553898687288237[91] = 0.0; - out_7441553898687288237[92] = 0.0; - out_7441553898687288237[93] = 0.0; - out_7441553898687288237[94] = 0.0; - out_7441553898687288237[95] = 1.0; - out_7441553898687288237[96] = 0.0; - out_7441553898687288237[97] = 0.0; - out_7441553898687288237[98] = 0.0; - out_7441553898687288237[99] = 0.0; - out_7441553898687288237[100] = 0.0; - out_7441553898687288237[101] = 0.0; - out_7441553898687288237[102] = 0.0; - out_7441553898687288237[103] = 0.0; - out_7441553898687288237[104] = 0.0; - out_7441553898687288237[105] = 0.0; - out_7441553898687288237[106] = 0.0; - out_7441553898687288237[107] = 0.0; - out_7441553898687288237[108] = 0.0; - out_7441553898687288237[109] = 0.0; - out_7441553898687288237[110] = 0.0; - out_7441553898687288237[111] = 0.0; - out_7441553898687288237[112] = 0.0; - out_7441553898687288237[113] = 0.0; - out_7441553898687288237[114] = 1.0; - out_7441553898687288237[115] = 0.0; - out_7441553898687288237[116] = 0.0; - out_7441553898687288237[117] = 0.0; - out_7441553898687288237[118] = 0.0; - out_7441553898687288237[119] = 0.0; - out_7441553898687288237[120] = 0.0; - out_7441553898687288237[121] = 0.0; - out_7441553898687288237[122] = 0.0; - out_7441553898687288237[123] = 0.0; - out_7441553898687288237[124] = 0.0; - out_7441553898687288237[125] = 0.0; - out_7441553898687288237[126] = 0.0; - out_7441553898687288237[127] = 0.0; - out_7441553898687288237[128] = 0.0; - out_7441553898687288237[129] = 0.0; - out_7441553898687288237[130] = 0.0; - out_7441553898687288237[131] = 0.0; - out_7441553898687288237[132] = 0.0; - out_7441553898687288237[133] = 1.0; - out_7441553898687288237[134] = 0.0; - out_7441553898687288237[135] = 0.0; - out_7441553898687288237[136] = 0.0; - out_7441553898687288237[137] = 0.0; - out_7441553898687288237[138] = 0.0; - out_7441553898687288237[139] = 0.0; - out_7441553898687288237[140] = 0.0; - out_7441553898687288237[141] = 0.0; - out_7441553898687288237[142] = 0.0; - out_7441553898687288237[143] = 0.0; - out_7441553898687288237[144] = 0.0; - out_7441553898687288237[145] = 0.0; - out_7441553898687288237[146] = 0.0; - out_7441553898687288237[147] = 0.0; - out_7441553898687288237[148] = 0.0; - out_7441553898687288237[149] = 0.0; - out_7441553898687288237[150] = 0.0; - out_7441553898687288237[151] = 0.0; - out_7441553898687288237[152] = 1.0; - out_7441553898687288237[153] = 0.0; - out_7441553898687288237[154] = 0.0; - out_7441553898687288237[155] = 0.0; - out_7441553898687288237[156] = 0.0; - out_7441553898687288237[157] = 0.0; - out_7441553898687288237[158] = 0.0; - out_7441553898687288237[159] = 0.0; - out_7441553898687288237[160] = 0.0; - out_7441553898687288237[161] = 0.0; - out_7441553898687288237[162] = 0.0; - out_7441553898687288237[163] = 0.0; - out_7441553898687288237[164] = 0.0; - out_7441553898687288237[165] = 0.0; - out_7441553898687288237[166] = 0.0; - out_7441553898687288237[167] = 0.0; - out_7441553898687288237[168] = 0.0; - out_7441553898687288237[169] = 0.0; - out_7441553898687288237[170] = 0.0; - out_7441553898687288237[171] = 1.0; - out_7441553898687288237[172] = 0.0; - out_7441553898687288237[173] = 0.0; - out_7441553898687288237[174] = 0.0; - out_7441553898687288237[175] = 0.0; - out_7441553898687288237[176] = 0.0; - out_7441553898687288237[177] = 0.0; - out_7441553898687288237[178] = 0.0; - out_7441553898687288237[179] = 0.0; - out_7441553898687288237[180] = 0.0; - out_7441553898687288237[181] = 0.0; - out_7441553898687288237[182] = 0.0; - out_7441553898687288237[183] = 0.0; - out_7441553898687288237[184] = 0.0; - out_7441553898687288237[185] = 0.0; - out_7441553898687288237[186] = 0.0; - out_7441553898687288237[187] = 0.0; - out_7441553898687288237[188] = 0.0; - out_7441553898687288237[189] = 0.0; - out_7441553898687288237[190] = 1.0; - out_7441553898687288237[191] = 0.0; - out_7441553898687288237[192] = 0.0; - out_7441553898687288237[193] = 0.0; - out_7441553898687288237[194] = 0.0; - out_7441553898687288237[195] = 0.0; - out_7441553898687288237[196] = 0.0; - out_7441553898687288237[197] = 0.0; - out_7441553898687288237[198] = 0.0; - out_7441553898687288237[199] = 0.0; - out_7441553898687288237[200] = 0.0; - out_7441553898687288237[201] = 0.0; - out_7441553898687288237[202] = 0.0; - out_7441553898687288237[203] = 0.0; - out_7441553898687288237[204] = 0.0; - out_7441553898687288237[205] = 0.0; - out_7441553898687288237[206] = 0.0; - out_7441553898687288237[207] = 0.0; - out_7441553898687288237[208] = 0.0; - out_7441553898687288237[209] = 1.0; - out_7441553898687288237[210] = 0.0; - out_7441553898687288237[211] = 0.0; - out_7441553898687288237[212] = 0.0; - out_7441553898687288237[213] = 0.0; - out_7441553898687288237[214] = 0.0; - out_7441553898687288237[215] = 0.0; - out_7441553898687288237[216] = 0.0; - out_7441553898687288237[217] = 0.0; - out_7441553898687288237[218] = 0.0; - out_7441553898687288237[219] = 0.0; - out_7441553898687288237[220] = 0.0; - out_7441553898687288237[221] = 0.0; - out_7441553898687288237[222] = 0.0; - out_7441553898687288237[223] = 0.0; - out_7441553898687288237[224] = 0.0; - out_7441553898687288237[225] = 0.0; - out_7441553898687288237[226] = 0.0; - out_7441553898687288237[227] = 0.0; - out_7441553898687288237[228] = 1.0; - out_7441553898687288237[229] = 0.0; - out_7441553898687288237[230] = 0.0; - out_7441553898687288237[231] = 0.0; - out_7441553898687288237[232] = 0.0; - out_7441553898687288237[233] = 0.0; - out_7441553898687288237[234] = 0.0; - out_7441553898687288237[235] = 0.0; - out_7441553898687288237[236] = 0.0; - out_7441553898687288237[237] = 0.0; - out_7441553898687288237[238] = 0.0; - out_7441553898687288237[239] = 0.0; - out_7441553898687288237[240] = 0.0; - out_7441553898687288237[241] = 0.0; - out_7441553898687288237[242] = 0.0; - out_7441553898687288237[243] = 0.0; - out_7441553898687288237[244] = 0.0; - out_7441553898687288237[245] = 0.0; - out_7441553898687288237[246] = 0.0; - out_7441553898687288237[247] = 1.0; - out_7441553898687288237[248] = 0.0; - out_7441553898687288237[249] = 0.0; - out_7441553898687288237[250] = 0.0; - out_7441553898687288237[251] = 0.0; - out_7441553898687288237[252] = 0.0; - out_7441553898687288237[253] = 0.0; - out_7441553898687288237[254] = 0.0; - out_7441553898687288237[255] = 0.0; - out_7441553898687288237[256] = 0.0; - out_7441553898687288237[257] = 0.0; - out_7441553898687288237[258] = 0.0; - out_7441553898687288237[259] = 0.0; - out_7441553898687288237[260] = 0.0; - out_7441553898687288237[261] = 0.0; - out_7441553898687288237[262] = 0.0; - out_7441553898687288237[263] = 0.0; - out_7441553898687288237[264] = 0.0; - out_7441553898687288237[265] = 0.0; - out_7441553898687288237[266] = 1.0; - out_7441553898687288237[267] = 0.0; - out_7441553898687288237[268] = 0.0; - out_7441553898687288237[269] = 0.0; - out_7441553898687288237[270] = 0.0; - out_7441553898687288237[271] = 0.0; - out_7441553898687288237[272] = 0.0; - out_7441553898687288237[273] = 0.0; - out_7441553898687288237[274] = 0.0; - out_7441553898687288237[275] = 0.0; - out_7441553898687288237[276] = 0.0; - out_7441553898687288237[277] = 0.0; - out_7441553898687288237[278] = 0.0; - out_7441553898687288237[279] = 0.0; - out_7441553898687288237[280] = 0.0; - out_7441553898687288237[281] = 0.0; - out_7441553898687288237[282] = 0.0; - out_7441553898687288237[283] = 0.0; - out_7441553898687288237[284] = 0.0; - out_7441553898687288237[285] = 1.0; - out_7441553898687288237[286] = 0.0; - out_7441553898687288237[287] = 0.0; - out_7441553898687288237[288] = 0.0; - out_7441553898687288237[289] = 0.0; - out_7441553898687288237[290] = 0.0; - out_7441553898687288237[291] = 0.0; - out_7441553898687288237[292] = 0.0; - out_7441553898687288237[293] = 0.0; - out_7441553898687288237[294] = 0.0; - out_7441553898687288237[295] = 0.0; - out_7441553898687288237[296] = 0.0; - out_7441553898687288237[297] = 0.0; - out_7441553898687288237[298] = 0.0; - out_7441553898687288237[299] = 0.0; - out_7441553898687288237[300] = 0.0; - out_7441553898687288237[301] = 0.0; - out_7441553898687288237[302] = 0.0; - out_7441553898687288237[303] = 0.0; - out_7441553898687288237[304] = 1.0; - out_7441553898687288237[305] = 0.0; - out_7441553898687288237[306] = 0.0; - out_7441553898687288237[307] = 0.0; - out_7441553898687288237[308] = 0.0; - out_7441553898687288237[309] = 0.0; - out_7441553898687288237[310] = 0.0; - out_7441553898687288237[311] = 0.0; - out_7441553898687288237[312] = 0.0; - out_7441553898687288237[313] = 0.0; - out_7441553898687288237[314] = 0.0; - out_7441553898687288237[315] = 0.0; - out_7441553898687288237[316] = 0.0; - out_7441553898687288237[317] = 0.0; - out_7441553898687288237[318] = 0.0; - out_7441553898687288237[319] = 0.0; - out_7441553898687288237[320] = 0.0; - out_7441553898687288237[321] = 0.0; - out_7441553898687288237[322] = 0.0; - out_7441553898687288237[323] = 1.0; +void H_mod_fun(double *state, double *out_3782749078324294962) { + out_3782749078324294962[0] = 1.0; + out_3782749078324294962[1] = 0.0; + out_3782749078324294962[2] = 0.0; + out_3782749078324294962[3] = 0.0; + out_3782749078324294962[4] = 0.0; + out_3782749078324294962[5] = 0.0; + out_3782749078324294962[6] = 0.0; + out_3782749078324294962[7] = 0.0; + out_3782749078324294962[8] = 0.0; + out_3782749078324294962[9] = 0.0; + out_3782749078324294962[10] = 0.0; + out_3782749078324294962[11] = 0.0; + out_3782749078324294962[12] = 0.0; + out_3782749078324294962[13] = 0.0; + out_3782749078324294962[14] = 0.0; + out_3782749078324294962[15] = 0.0; + out_3782749078324294962[16] = 0.0; + out_3782749078324294962[17] = 0.0; + out_3782749078324294962[18] = 0.0; + out_3782749078324294962[19] = 1.0; + out_3782749078324294962[20] = 0.0; + out_3782749078324294962[21] = 0.0; + out_3782749078324294962[22] = 0.0; + out_3782749078324294962[23] = 0.0; + out_3782749078324294962[24] = 0.0; + out_3782749078324294962[25] = 0.0; + out_3782749078324294962[26] = 0.0; + out_3782749078324294962[27] = 0.0; + out_3782749078324294962[28] = 0.0; + out_3782749078324294962[29] = 0.0; + out_3782749078324294962[30] = 0.0; + out_3782749078324294962[31] = 0.0; + out_3782749078324294962[32] = 0.0; + out_3782749078324294962[33] = 0.0; + out_3782749078324294962[34] = 0.0; + out_3782749078324294962[35] = 0.0; + out_3782749078324294962[36] = 0.0; + out_3782749078324294962[37] = 0.0; + out_3782749078324294962[38] = 1.0; + out_3782749078324294962[39] = 0.0; + out_3782749078324294962[40] = 0.0; + out_3782749078324294962[41] = 0.0; + out_3782749078324294962[42] = 0.0; + out_3782749078324294962[43] = 0.0; + out_3782749078324294962[44] = 0.0; + out_3782749078324294962[45] = 0.0; + out_3782749078324294962[46] = 0.0; + out_3782749078324294962[47] = 0.0; + out_3782749078324294962[48] = 0.0; + out_3782749078324294962[49] = 0.0; + out_3782749078324294962[50] = 0.0; + out_3782749078324294962[51] = 0.0; + out_3782749078324294962[52] = 0.0; + out_3782749078324294962[53] = 0.0; + out_3782749078324294962[54] = 0.0; + out_3782749078324294962[55] = 0.0; + out_3782749078324294962[56] = 0.0; + out_3782749078324294962[57] = 1.0; + out_3782749078324294962[58] = 0.0; + out_3782749078324294962[59] = 0.0; + out_3782749078324294962[60] = 0.0; + out_3782749078324294962[61] = 0.0; + out_3782749078324294962[62] = 0.0; + out_3782749078324294962[63] = 0.0; + out_3782749078324294962[64] = 0.0; + out_3782749078324294962[65] = 0.0; + out_3782749078324294962[66] = 0.0; + out_3782749078324294962[67] = 0.0; + out_3782749078324294962[68] = 0.0; + out_3782749078324294962[69] = 0.0; + out_3782749078324294962[70] = 0.0; + out_3782749078324294962[71] = 0.0; + out_3782749078324294962[72] = 0.0; + out_3782749078324294962[73] = 0.0; + out_3782749078324294962[74] = 0.0; + out_3782749078324294962[75] = 0.0; + out_3782749078324294962[76] = 1.0; + out_3782749078324294962[77] = 0.0; + out_3782749078324294962[78] = 0.0; + out_3782749078324294962[79] = 0.0; + out_3782749078324294962[80] = 0.0; + out_3782749078324294962[81] = 0.0; + out_3782749078324294962[82] = 0.0; + out_3782749078324294962[83] = 0.0; + out_3782749078324294962[84] = 0.0; + out_3782749078324294962[85] = 0.0; + out_3782749078324294962[86] = 0.0; + out_3782749078324294962[87] = 0.0; + out_3782749078324294962[88] = 0.0; + out_3782749078324294962[89] = 0.0; + out_3782749078324294962[90] = 0.0; + out_3782749078324294962[91] = 0.0; + out_3782749078324294962[92] = 0.0; + out_3782749078324294962[93] = 0.0; + out_3782749078324294962[94] = 0.0; + out_3782749078324294962[95] = 1.0; + out_3782749078324294962[96] = 0.0; + out_3782749078324294962[97] = 0.0; + out_3782749078324294962[98] = 0.0; + out_3782749078324294962[99] = 0.0; + out_3782749078324294962[100] = 0.0; + out_3782749078324294962[101] = 0.0; + out_3782749078324294962[102] = 0.0; + out_3782749078324294962[103] = 0.0; + out_3782749078324294962[104] = 0.0; + out_3782749078324294962[105] = 0.0; + out_3782749078324294962[106] = 0.0; + out_3782749078324294962[107] = 0.0; + out_3782749078324294962[108] = 0.0; + out_3782749078324294962[109] = 0.0; + out_3782749078324294962[110] = 0.0; + out_3782749078324294962[111] = 0.0; + out_3782749078324294962[112] = 0.0; + out_3782749078324294962[113] = 0.0; + out_3782749078324294962[114] = 1.0; + out_3782749078324294962[115] = 0.0; + out_3782749078324294962[116] = 0.0; + out_3782749078324294962[117] = 0.0; + out_3782749078324294962[118] = 0.0; + out_3782749078324294962[119] = 0.0; + out_3782749078324294962[120] = 0.0; + out_3782749078324294962[121] = 0.0; + out_3782749078324294962[122] = 0.0; + out_3782749078324294962[123] = 0.0; + out_3782749078324294962[124] = 0.0; + out_3782749078324294962[125] = 0.0; + out_3782749078324294962[126] = 0.0; + out_3782749078324294962[127] = 0.0; + out_3782749078324294962[128] = 0.0; + out_3782749078324294962[129] = 0.0; + out_3782749078324294962[130] = 0.0; + out_3782749078324294962[131] = 0.0; + out_3782749078324294962[132] = 0.0; + out_3782749078324294962[133] = 1.0; + out_3782749078324294962[134] = 0.0; + out_3782749078324294962[135] = 0.0; + out_3782749078324294962[136] = 0.0; + out_3782749078324294962[137] = 0.0; + out_3782749078324294962[138] = 0.0; + out_3782749078324294962[139] = 0.0; + out_3782749078324294962[140] = 0.0; + out_3782749078324294962[141] = 0.0; + out_3782749078324294962[142] = 0.0; + out_3782749078324294962[143] = 0.0; + out_3782749078324294962[144] = 0.0; + out_3782749078324294962[145] = 0.0; + out_3782749078324294962[146] = 0.0; + out_3782749078324294962[147] = 0.0; + out_3782749078324294962[148] = 0.0; + out_3782749078324294962[149] = 0.0; + out_3782749078324294962[150] = 0.0; + out_3782749078324294962[151] = 0.0; + out_3782749078324294962[152] = 1.0; + out_3782749078324294962[153] = 0.0; + out_3782749078324294962[154] = 0.0; + out_3782749078324294962[155] = 0.0; + out_3782749078324294962[156] = 0.0; + out_3782749078324294962[157] = 0.0; + out_3782749078324294962[158] = 0.0; + out_3782749078324294962[159] = 0.0; + out_3782749078324294962[160] = 0.0; + out_3782749078324294962[161] = 0.0; + out_3782749078324294962[162] = 0.0; + out_3782749078324294962[163] = 0.0; + out_3782749078324294962[164] = 0.0; + out_3782749078324294962[165] = 0.0; + out_3782749078324294962[166] = 0.0; + out_3782749078324294962[167] = 0.0; + out_3782749078324294962[168] = 0.0; + out_3782749078324294962[169] = 0.0; + out_3782749078324294962[170] = 0.0; + out_3782749078324294962[171] = 1.0; + out_3782749078324294962[172] = 0.0; + out_3782749078324294962[173] = 0.0; + out_3782749078324294962[174] = 0.0; + out_3782749078324294962[175] = 0.0; + out_3782749078324294962[176] = 0.0; + out_3782749078324294962[177] = 0.0; + out_3782749078324294962[178] = 0.0; + out_3782749078324294962[179] = 0.0; + out_3782749078324294962[180] = 0.0; + out_3782749078324294962[181] = 0.0; + out_3782749078324294962[182] = 0.0; + out_3782749078324294962[183] = 0.0; + out_3782749078324294962[184] = 0.0; + out_3782749078324294962[185] = 0.0; + out_3782749078324294962[186] = 0.0; + out_3782749078324294962[187] = 0.0; + out_3782749078324294962[188] = 0.0; + out_3782749078324294962[189] = 0.0; + out_3782749078324294962[190] = 1.0; + out_3782749078324294962[191] = 0.0; + out_3782749078324294962[192] = 0.0; + out_3782749078324294962[193] = 0.0; + out_3782749078324294962[194] = 0.0; + out_3782749078324294962[195] = 0.0; + out_3782749078324294962[196] = 0.0; + out_3782749078324294962[197] = 0.0; + out_3782749078324294962[198] = 0.0; + out_3782749078324294962[199] = 0.0; + out_3782749078324294962[200] = 0.0; + out_3782749078324294962[201] = 0.0; + out_3782749078324294962[202] = 0.0; + out_3782749078324294962[203] = 0.0; + out_3782749078324294962[204] = 0.0; + out_3782749078324294962[205] = 0.0; + out_3782749078324294962[206] = 0.0; + out_3782749078324294962[207] = 0.0; + out_3782749078324294962[208] = 0.0; + out_3782749078324294962[209] = 1.0; + out_3782749078324294962[210] = 0.0; + out_3782749078324294962[211] = 0.0; + out_3782749078324294962[212] = 0.0; + out_3782749078324294962[213] = 0.0; + out_3782749078324294962[214] = 0.0; + out_3782749078324294962[215] = 0.0; + out_3782749078324294962[216] = 0.0; + out_3782749078324294962[217] = 0.0; + out_3782749078324294962[218] = 0.0; + out_3782749078324294962[219] = 0.0; + out_3782749078324294962[220] = 0.0; + out_3782749078324294962[221] = 0.0; + out_3782749078324294962[222] = 0.0; + out_3782749078324294962[223] = 0.0; + out_3782749078324294962[224] = 0.0; + out_3782749078324294962[225] = 0.0; + out_3782749078324294962[226] = 0.0; + out_3782749078324294962[227] = 0.0; + out_3782749078324294962[228] = 1.0; + out_3782749078324294962[229] = 0.0; + out_3782749078324294962[230] = 0.0; + out_3782749078324294962[231] = 0.0; + out_3782749078324294962[232] = 0.0; + out_3782749078324294962[233] = 0.0; + out_3782749078324294962[234] = 0.0; + out_3782749078324294962[235] = 0.0; + out_3782749078324294962[236] = 0.0; + out_3782749078324294962[237] = 0.0; + out_3782749078324294962[238] = 0.0; + out_3782749078324294962[239] = 0.0; + out_3782749078324294962[240] = 0.0; + out_3782749078324294962[241] = 0.0; + out_3782749078324294962[242] = 0.0; + out_3782749078324294962[243] = 0.0; + out_3782749078324294962[244] = 0.0; + out_3782749078324294962[245] = 0.0; + out_3782749078324294962[246] = 0.0; + out_3782749078324294962[247] = 1.0; + out_3782749078324294962[248] = 0.0; + out_3782749078324294962[249] = 0.0; + out_3782749078324294962[250] = 0.0; + out_3782749078324294962[251] = 0.0; + out_3782749078324294962[252] = 0.0; + out_3782749078324294962[253] = 0.0; + out_3782749078324294962[254] = 0.0; + out_3782749078324294962[255] = 0.0; + out_3782749078324294962[256] = 0.0; + out_3782749078324294962[257] = 0.0; + out_3782749078324294962[258] = 0.0; + out_3782749078324294962[259] = 0.0; + out_3782749078324294962[260] = 0.0; + out_3782749078324294962[261] = 0.0; + out_3782749078324294962[262] = 0.0; + out_3782749078324294962[263] = 0.0; + out_3782749078324294962[264] = 0.0; + out_3782749078324294962[265] = 0.0; + out_3782749078324294962[266] = 1.0; + out_3782749078324294962[267] = 0.0; + out_3782749078324294962[268] = 0.0; + out_3782749078324294962[269] = 0.0; + out_3782749078324294962[270] = 0.0; + out_3782749078324294962[271] = 0.0; + out_3782749078324294962[272] = 0.0; + out_3782749078324294962[273] = 0.0; + out_3782749078324294962[274] = 0.0; + out_3782749078324294962[275] = 0.0; + out_3782749078324294962[276] = 0.0; + out_3782749078324294962[277] = 0.0; + out_3782749078324294962[278] = 0.0; + out_3782749078324294962[279] = 0.0; + out_3782749078324294962[280] = 0.0; + out_3782749078324294962[281] = 0.0; + out_3782749078324294962[282] = 0.0; + out_3782749078324294962[283] = 0.0; + out_3782749078324294962[284] = 0.0; + out_3782749078324294962[285] = 1.0; + out_3782749078324294962[286] = 0.0; + out_3782749078324294962[287] = 0.0; + out_3782749078324294962[288] = 0.0; + out_3782749078324294962[289] = 0.0; + out_3782749078324294962[290] = 0.0; + out_3782749078324294962[291] = 0.0; + out_3782749078324294962[292] = 0.0; + out_3782749078324294962[293] = 0.0; + out_3782749078324294962[294] = 0.0; + out_3782749078324294962[295] = 0.0; + out_3782749078324294962[296] = 0.0; + out_3782749078324294962[297] = 0.0; + out_3782749078324294962[298] = 0.0; + out_3782749078324294962[299] = 0.0; + out_3782749078324294962[300] = 0.0; + out_3782749078324294962[301] = 0.0; + out_3782749078324294962[302] = 0.0; + out_3782749078324294962[303] = 0.0; + out_3782749078324294962[304] = 1.0; + out_3782749078324294962[305] = 0.0; + out_3782749078324294962[306] = 0.0; + out_3782749078324294962[307] = 0.0; + out_3782749078324294962[308] = 0.0; + out_3782749078324294962[309] = 0.0; + out_3782749078324294962[310] = 0.0; + out_3782749078324294962[311] = 0.0; + out_3782749078324294962[312] = 0.0; + out_3782749078324294962[313] = 0.0; + out_3782749078324294962[314] = 0.0; + out_3782749078324294962[315] = 0.0; + out_3782749078324294962[316] = 0.0; + out_3782749078324294962[317] = 0.0; + out_3782749078324294962[318] = 0.0; + out_3782749078324294962[319] = 0.0; + out_3782749078324294962[320] = 0.0; + out_3782749078324294962[321] = 0.0; + out_3782749078324294962[322] = 0.0; + out_3782749078324294962[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8648120814934185415) { - out_8648120814934185415[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_8648120814934185415[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_8648120814934185415[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_8648120814934185415[3] = dt*state[12] + state[3]; - out_8648120814934185415[4] = dt*state[13] + state[4]; - out_8648120814934185415[5] = dt*state[14] + state[5]; - out_8648120814934185415[6] = state[6]; - out_8648120814934185415[7] = state[7]; - out_8648120814934185415[8] = state[8]; - out_8648120814934185415[9] = state[9]; - out_8648120814934185415[10] = state[10]; - out_8648120814934185415[11] = state[11]; - out_8648120814934185415[12] = state[12]; - out_8648120814934185415[13] = state[13]; - out_8648120814934185415[14] = state[14]; - out_8648120814934185415[15] = state[15]; - out_8648120814934185415[16] = state[16]; - out_8648120814934185415[17] = state[17]; +void f_fun(double *state, double dt, double *out_2316687695349101514) { + out_2316687695349101514[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_2316687695349101514[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_2316687695349101514[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_2316687695349101514[3] = dt*state[12] + state[3]; + out_2316687695349101514[4] = dt*state[13] + state[4]; + out_2316687695349101514[5] = dt*state[14] + state[5]; + out_2316687695349101514[6] = state[6]; + out_2316687695349101514[7] = state[7]; + out_2316687695349101514[8] = state[8]; + out_2316687695349101514[9] = state[9]; + out_2316687695349101514[10] = state[10]; + out_2316687695349101514[11] = state[11]; + out_2316687695349101514[12] = state[12]; + out_2316687695349101514[13] = state[13]; + out_2316687695349101514[14] = state[14]; + out_2316687695349101514[15] = state[15]; + out_2316687695349101514[16] = state[16]; + out_2316687695349101514[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5073381682457521558) { - out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[2] = 0; - out_5073381682457521558[3] = 0; - out_5073381682457521558[4] = 0; - out_5073381682457521558[5] = 0; - out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[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_5073381682457521558[9] = 0; - out_5073381682457521558[10] = 0; - out_5073381682457521558[11] = 0; - out_5073381682457521558[12] = 0; - out_5073381682457521558[13] = 0; - out_5073381682457521558[14] = 0; - out_5073381682457521558[15] = 0; - out_5073381682457521558[16] = 0; - out_5073381682457521558[17] = 0; - out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[20] = 0; - out_5073381682457521558[21] = 0; - out_5073381682457521558[22] = 0; - out_5073381682457521558[23] = 0; - out_5073381682457521558[24] = 0; - out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[27] = 0; - out_5073381682457521558[28] = 0; - out_5073381682457521558[29] = 0; - out_5073381682457521558[30] = 0; - out_5073381682457521558[31] = 0; - out_5073381682457521558[32] = 0; - out_5073381682457521558[33] = 0; - out_5073381682457521558[34] = 0; - out_5073381682457521558[35] = 0; - out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[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_5073381682457521558[39] = 0; - out_5073381682457521558[40] = 0; - out_5073381682457521558[41] = 0; - out_5073381682457521558[42] = 0; - out_5073381682457521558[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_5073381682457521558[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_5073381682457521558[45] = 0; - out_5073381682457521558[46] = 0; - out_5073381682457521558[47] = 0; - out_5073381682457521558[48] = 0; - out_5073381682457521558[49] = 0; - out_5073381682457521558[50] = 0; - out_5073381682457521558[51] = 0; - out_5073381682457521558[52] = 0; - out_5073381682457521558[53] = 0; - out_5073381682457521558[54] = 0; - out_5073381682457521558[55] = 0; - out_5073381682457521558[56] = 0; - out_5073381682457521558[57] = 1; - out_5073381682457521558[58] = 0; - out_5073381682457521558[59] = 0; - out_5073381682457521558[60] = 0; - out_5073381682457521558[61] = 0; - out_5073381682457521558[62] = 0; - out_5073381682457521558[63] = 0; - out_5073381682457521558[64] = 0; - out_5073381682457521558[65] = 0; - out_5073381682457521558[66] = dt; - out_5073381682457521558[67] = 0; - out_5073381682457521558[68] = 0; - out_5073381682457521558[69] = 0; - out_5073381682457521558[70] = 0; - out_5073381682457521558[71] = 0; - out_5073381682457521558[72] = 0; - out_5073381682457521558[73] = 0; - out_5073381682457521558[74] = 0; - out_5073381682457521558[75] = 0; - out_5073381682457521558[76] = 1; - out_5073381682457521558[77] = 0; - out_5073381682457521558[78] = 0; - out_5073381682457521558[79] = 0; - out_5073381682457521558[80] = 0; - out_5073381682457521558[81] = 0; - out_5073381682457521558[82] = 0; - out_5073381682457521558[83] = 0; - out_5073381682457521558[84] = 0; - out_5073381682457521558[85] = dt; - out_5073381682457521558[86] = 0; - out_5073381682457521558[87] = 0; - out_5073381682457521558[88] = 0; - out_5073381682457521558[89] = 0; - out_5073381682457521558[90] = 0; - out_5073381682457521558[91] = 0; - out_5073381682457521558[92] = 0; - out_5073381682457521558[93] = 0; - out_5073381682457521558[94] = 0; - out_5073381682457521558[95] = 1; - out_5073381682457521558[96] = 0; - out_5073381682457521558[97] = 0; - out_5073381682457521558[98] = 0; - out_5073381682457521558[99] = 0; - out_5073381682457521558[100] = 0; - out_5073381682457521558[101] = 0; - out_5073381682457521558[102] = 0; - out_5073381682457521558[103] = 0; - out_5073381682457521558[104] = dt; - out_5073381682457521558[105] = 0; - out_5073381682457521558[106] = 0; - out_5073381682457521558[107] = 0; - out_5073381682457521558[108] = 0; - out_5073381682457521558[109] = 0; - out_5073381682457521558[110] = 0; - out_5073381682457521558[111] = 0; - out_5073381682457521558[112] = 0; - out_5073381682457521558[113] = 0; - out_5073381682457521558[114] = 1; - out_5073381682457521558[115] = 0; - out_5073381682457521558[116] = 0; - out_5073381682457521558[117] = 0; - out_5073381682457521558[118] = 0; - out_5073381682457521558[119] = 0; - out_5073381682457521558[120] = 0; - out_5073381682457521558[121] = 0; - out_5073381682457521558[122] = 0; - out_5073381682457521558[123] = 0; - out_5073381682457521558[124] = 0; - out_5073381682457521558[125] = 0; - out_5073381682457521558[126] = 0; - out_5073381682457521558[127] = 0; - out_5073381682457521558[128] = 0; - out_5073381682457521558[129] = 0; - out_5073381682457521558[130] = 0; - out_5073381682457521558[131] = 0; - out_5073381682457521558[132] = 0; - out_5073381682457521558[133] = 1; - out_5073381682457521558[134] = 0; - out_5073381682457521558[135] = 0; - out_5073381682457521558[136] = 0; - out_5073381682457521558[137] = 0; - out_5073381682457521558[138] = 0; - out_5073381682457521558[139] = 0; - out_5073381682457521558[140] = 0; - out_5073381682457521558[141] = 0; - out_5073381682457521558[142] = 0; - out_5073381682457521558[143] = 0; - out_5073381682457521558[144] = 0; - out_5073381682457521558[145] = 0; - out_5073381682457521558[146] = 0; - out_5073381682457521558[147] = 0; - out_5073381682457521558[148] = 0; - out_5073381682457521558[149] = 0; - out_5073381682457521558[150] = 0; - out_5073381682457521558[151] = 0; - out_5073381682457521558[152] = 1; - out_5073381682457521558[153] = 0; - out_5073381682457521558[154] = 0; - out_5073381682457521558[155] = 0; - out_5073381682457521558[156] = 0; - out_5073381682457521558[157] = 0; - out_5073381682457521558[158] = 0; - out_5073381682457521558[159] = 0; - out_5073381682457521558[160] = 0; - out_5073381682457521558[161] = 0; - out_5073381682457521558[162] = 0; - out_5073381682457521558[163] = 0; - out_5073381682457521558[164] = 0; - out_5073381682457521558[165] = 0; - out_5073381682457521558[166] = 0; - out_5073381682457521558[167] = 0; - out_5073381682457521558[168] = 0; - out_5073381682457521558[169] = 0; - out_5073381682457521558[170] = 0; - out_5073381682457521558[171] = 1; - out_5073381682457521558[172] = 0; - out_5073381682457521558[173] = 0; - out_5073381682457521558[174] = 0; - out_5073381682457521558[175] = 0; - out_5073381682457521558[176] = 0; - out_5073381682457521558[177] = 0; - out_5073381682457521558[178] = 0; - out_5073381682457521558[179] = 0; - out_5073381682457521558[180] = 0; - out_5073381682457521558[181] = 0; - out_5073381682457521558[182] = 0; - out_5073381682457521558[183] = 0; - out_5073381682457521558[184] = 0; - out_5073381682457521558[185] = 0; - out_5073381682457521558[186] = 0; - out_5073381682457521558[187] = 0; - out_5073381682457521558[188] = 0; - out_5073381682457521558[189] = 0; - out_5073381682457521558[190] = 1; - out_5073381682457521558[191] = 0; - out_5073381682457521558[192] = 0; - out_5073381682457521558[193] = 0; - out_5073381682457521558[194] = 0; - out_5073381682457521558[195] = 0; - out_5073381682457521558[196] = 0; - out_5073381682457521558[197] = 0; - out_5073381682457521558[198] = 0; - out_5073381682457521558[199] = 0; - out_5073381682457521558[200] = 0; - out_5073381682457521558[201] = 0; - out_5073381682457521558[202] = 0; - out_5073381682457521558[203] = 0; - out_5073381682457521558[204] = 0; - out_5073381682457521558[205] = 0; - out_5073381682457521558[206] = 0; - out_5073381682457521558[207] = 0; - out_5073381682457521558[208] = 0; - out_5073381682457521558[209] = 1; - out_5073381682457521558[210] = 0; - out_5073381682457521558[211] = 0; - out_5073381682457521558[212] = 0; - out_5073381682457521558[213] = 0; - out_5073381682457521558[214] = 0; - out_5073381682457521558[215] = 0; - out_5073381682457521558[216] = 0; - out_5073381682457521558[217] = 0; - out_5073381682457521558[218] = 0; - out_5073381682457521558[219] = 0; - out_5073381682457521558[220] = 0; - out_5073381682457521558[221] = 0; - out_5073381682457521558[222] = 0; - out_5073381682457521558[223] = 0; - out_5073381682457521558[224] = 0; - out_5073381682457521558[225] = 0; - out_5073381682457521558[226] = 0; - out_5073381682457521558[227] = 0; - out_5073381682457521558[228] = 1; - out_5073381682457521558[229] = 0; - out_5073381682457521558[230] = 0; - out_5073381682457521558[231] = 0; - out_5073381682457521558[232] = 0; - out_5073381682457521558[233] = 0; - out_5073381682457521558[234] = 0; - out_5073381682457521558[235] = 0; - out_5073381682457521558[236] = 0; - out_5073381682457521558[237] = 0; - out_5073381682457521558[238] = 0; - out_5073381682457521558[239] = 0; - out_5073381682457521558[240] = 0; - out_5073381682457521558[241] = 0; - out_5073381682457521558[242] = 0; - out_5073381682457521558[243] = 0; - out_5073381682457521558[244] = 0; - out_5073381682457521558[245] = 0; - out_5073381682457521558[246] = 0; - out_5073381682457521558[247] = 1; - out_5073381682457521558[248] = 0; - out_5073381682457521558[249] = 0; - out_5073381682457521558[250] = 0; - out_5073381682457521558[251] = 0; - out_5073381682457521558[252] = 0; - out_5073381682457521558[253] = 0; - out_5073381682457521558[254] = 0; - out_5073381682457521558[255] = 0; - out_5073381682457521558[256] = 0; - out_5073381682457521558[257] = 0; - out_5073381682457521558[258] = 0; - out_5073381682457521558[259] = 0; - out_5073381682457521558[260] = 0; - out_5073381682457521558[261] = 0; - out_5073381682457521558[262] = 0; - out_5073381682457521558[263] = 0; - out_5073381682457521558[264] = 0; - out_5073381682457521558[265] = 0; - out_5073381682457521558[266] = 1; - out_5073381682457521558[267] = 0; - out_5073381682457521558[268] = 0; - out_5073381682457521558[269] = 0; - out_5073381682457521558[270] = 0; - out_5073381682457521558[271] = 0; - out_5073381682457521558[272] = 0; - out_5073381682457521558[273] = 0; - out_5073381682457521558[274] = 0; - out_5073381682457521558[275] = 0; - out_5073381682457521558[276] = 0; - out_5073381682457521558[277] = 0; - out_5073381682457521558[278] = 0; - out_5073381682457521558[279] = 0; - out_5073381682457521558[280] = 0; - out_5073381682457521558[281] = 0; - out_5073381682457521558[282] = 0; - out_5073381682457521558[283] = 0; - out_5073381682457521558[284] = 0; - out_5073381682457521558[285] = 1; - out_5073381682457521558[286] = 0; - out_5073381682457521558[287] = 0; - out_5073381682457521558[288] = 0; - out_5073381682457521558[289] = 0; - out_5073381682457521558[290] = 0; - out_5073381682457521558[291] = 0; - out_5073381682457521558[292] = 0; - out_5073381682457521558[293] = 0; - out_5073381682457521558[294] = 0; - out_5073381682457521558[295] = 0; - out_5073381682457521558[296] = 0; - out_5073381682457521558[297] = 0; - out_5073381682457521558[298] = 0; - out_5073381682457521558[299] = 0; - out_5073381682457521558[300] = 0; - out_5073381682457521558[301] = 0; - out_5073381682457521558[302] = 0; - out_5073381682457521558[303] = 0; - out_5073381682457521558[304] = 1; - out_5073381682457521558[305] = 0; - out_5073381682457521558[306] = 0; - out_5073381682457521558[307] = 0; - out_5073381682457521558[308] = 0; - out_5073381682457521558[309] = 0; - out_5073381682457521558[310] = 0; - out_5073381682457521558[311] = 0; - out_5073381682457521558[312] = 0; - out_5073381682457521558[313] = 0; - out_5073381682457521558[314] = 0; - out_5073381682457521558[315] = 0; - out_5073381682457521558[316] = 0; - out_5073381682457521558[317] = 0; - out_5073381682457521558[318] = 0; - out_5073381682457521558[319] = 0; - out_5073381682457521558[320] = 0; - out_5073381682457521558[321] = 0; - out_5073381682457521558[322] = 0; - out_5073381682457521558[323] = 1; +void F_fun(double *state, double dt, double *out_830203783768276833) { + out_830203783768276833[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_830203783768276833[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_830203783768276833[2] = 0; + out_830203783768276833[3] = 0; + out_830203783768276833[4] = 0; + out_830203783768276833[5] = 0; + out_830203783768276833[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_830203783768276833[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_830203783768276833[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_830203783768276833[9] = 0; + out_830203783768276833[10] = 0; + out_830203783768276833[11] = 0; + out_830203783768276833[12] = 0; + out_830203783768276833[13] = 0; + out_830203783768276833[14] = 0; + out_830203783768276833[15] = 0; + out_830203783768276833[16] = 0; + out_830203783768276833[17] = 0; + out_830203783768276833[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_830203783768276833[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_830203783768276833[20] = 0; + out_830203783768276833[21] = 0; + out_830203783768276833[22] = 0; + out_830203783768276833[23] = 0; + out_830203783768276833[24] = 0; + out_830203783768276833[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_830203783768276833[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_830203783768276833[27] = 0; + out_830203783768276833[28] = 0; + out_830203783768276833[29] = 0; + out_830203783768276833[30] = 0; + out_830203783768276833[31] = 0; + out_830203783768276833[32] = 0; + out_830203783768276833[33] = 0; + out_830203783768276833[34] = 0; + out_830203783768276833[35] = 0; + out_830203783768276833[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_830203783768276833[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_830203783768276833[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_830203783768276833[39] = 0; + out_830203783768276833[40] = 0; + out_830203783768276833[41] = 0; + out_830203783768276833[42] = 0; + out_830203783768276833[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_830203783768276833[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_830203783768276833[45] = 0; + out_830203783768276833[46] = 0; + out_830203783768276833[47] = 0; + out_830203783768276833[48] = 0; + out_830203783768276833[49] = 0; + out_830203783768276833[50] = 0; + out_830203783768276833[51] = 0; + out_830203783768276833[52] = 0; + out_830203783768276833[53] = 0; + out_830203783768276833[54] = 0; + out_830203783768276833[55] = 0; + out_830203783768276833[56] = 0; + out_830203783768276833[57] = 1; + out_830203783768276833[58] = 0; + out_830203783768276833[59] = 0; + out_830203783768276833[60] = 0; + out_830203783768276833[61] = 0; + out_830203783768276833[62] = 0; + out_830203783768276833[63] = 0; + out_830203783768276833[64] = 0; + out_830203783768276833[65] = 0; + out_830203783768276833[66] = dt; + out_830203783768276833[67] = 0; + out_830203783768276833[68] = 0; + out_830203783768276833[69] = 0; + out_830203783768276833[70] = 0; + out_830203783768276833[71] = 0; + out_830203783768276833[72] = 0; + out_830203783768276833[73] = 0; + out_830203783768276833[74] = 0; + out_830203783768276833[75] = 0; + out_830203783768276833[76] = 1; + out_830203783768276833[77] = 0; + out_830203783768276833[78] = 0; + out_830203783768276833[79] = 0; + out_830203783768276833[80] = 0; + out_830203783768276833[81] = 0; + out_830203783768276833[82] = 0; + out_830203783768276833[83] = 0; + out_830203783768276833[84] = 0; + out_830203783768276833[85] = dt; + out_830203783768276833[86] = 0; + out_830203783768276833[87] = 0; + out_830203783768276833[88] = 0; + out_830203783768276833[89] = 0; + out_830203783768276833[90] = 0; + out_830203783768276833[91] = 0; + out_830203783768276833[92] = 0; + out_830203783768276833[93] = 0; + out_830203783768276833[94] = 0; + out_830203783768276833[95] = 1; + out_830203783768276833[96] = 0; + out_830203783768276833[97] = 0; + out_830203783768276833[98] = 0; + out_830203783768276833[99] = 0; + out_830203783768276833[100] = 0; + out_830203783768276833[101] = 0; + out_830203783768276833[102] = 0; + out_830203783768276833[103] = 0; + out_830203783768276833[104] = dt; + out_830203783768276833[105] = 0; + out_830203783768276833[106] = 0; + out_830203783768276833[107] = 0; + out_830203783768276833[108] = 0; + out_830203783768276833[109] = 0; + out_830203783768276833[110] = 0; + out_830203783768276833[111] = 0; + out_830203783768276833[112] = 0; + out_830203783768276833[113] = 0; + out_830203783768276833[114] = 1; + out_830203783768276833[115] = 0; + out_830203783768276833[116] = 0; + out_830203783768276833[117] = 0; + out_830203783768276833[118] = 0; + out_830203783768276833[119] = 0; + out_830203783768276833[120] = 0; + out_830203783768276833[121] = 0; + out_830203783768276833[122] = 0; + out_830203783768276833[123] = 0; + out_830203783768276833[124] = 0; + out_830203783768276833[125] = 0; + out_830203783768276833[126] = 0; + out_830203783768276833[127] = 0; + out_830203783768276833[128] = 0; + out_830203783768276833[129] = 0; + out_830203783768276833[130] = 0; + out_830203783768276833[131] = 0; + out_830203783768276833[132] = 0; + out_830203783768276833[133] = 1; + out_830203783768276833[134] = 0; + out_830203783768276833[135] = 0; + out_830203783768276833[136] = 0; + out_830203783768276833[137] = 0; + out_830203783768276833[138] = 0; + out_830203783768276833[139] = 0; + out_830203783768276833[140] = 0; + out_830203783768276833[141] = 0; + out_830203783768276833[142] = 0; + out_830203783768276833[143] = 0; + out_830203783768276833[144] = 0; + out_830203783768276833[145] = 0; + out_830203783768276833[146] = 0; + out_830203783768276833[147] = 0; + out_830203783768276833[148] = 0; + out_830203783768276833[149] = 0; + out_830203783768276833[150] = 0; + out_830203783768276833[151] = 0; + out_830203783768276833[152] = 1; + out_830203783768276833[153] = 0; + out_830203783768276833[154] = 0; + out_830203783768276833[155] = 0; + out_830203783768276833[156] = 0; + out_830203783768276833[157] = 0; + out_830203783768276833[158] = 0; + out_830203783768276833[159] = 0; + out_830203783768276833[160] = 0; + out_830203783768276833[161] = 0; + out_830203783768276833[162] = 0; + out_830203783768276833[163] = 0; + out_830203783768276833[164] = 0; + out_830203783768276833[165] = 0; + out_830203783768276833[166] = 0; + out_830203783768276833[167] = 0; + out_830203783768276833[168] = 0; + out_830203783768276833[169] = 0; + out_830203783768276833[170] = 0; + out_830203783768276833[171] = 1; + out_830203783768276833[172] = 0; + out_830203783768276833[173] = 0; + out_830203783768276833[174] = 0; + out_830203783768276833[175] = 0; + out_830203783768276833[176] = 0; + out_830203783768276833[177] = 0; + out_830203783768276833[178] = 0; + out_830203783768276833[179] = 0; + out_830203783768276833[180] = 0; + out_830203783768276833[181] = 0; + out_830203783768276833[182] = 0; + out_830203783768276833[183] = 0; + out_830203783768276833[184] = 0; + out_830203783768276833[185] = 0; + out_830203783768276833[186] = 0; + out_830203783768276833[187] = 0; + out_830203783768276833[188] = 0; + out_830203783768276833[189] = 0; + out_830203783768276833[190] = 1; + out_830203783768276833[191] = 0; + out_830203783768276833[192] = 0; + out_830203783768276833[193] = 0; + out_830203783768276833[194] = 0; + out_830203783768276833[195] = 0; + out_830203783768276833[196] = 0; + out_830203783768276833[197] = 0; + out_830203783768276833[198] = 0; + out_830203783768276833[199] = 0; + out_830203783768276833[200] = 0; + out_830203783768276833[201] = 0; + out_830203783768276833[202] = 0; + out_830203783768276833[203] = 0; + out_830203783768276833[204] = 0; + out_830203783768276833[205] = 0; + out_830203783768276833[206] = 0; + out_830203783768276833[207] = 0; + out_830203783768276833[208] = 0; + out_830203783768276833[209] = 1; + out_830203783768276833[210] = 0; + out_830203783768276833[211] = 0; + out_830203783768276833[212] = 0; + out_830203783768276833[213] = 0; + out_830203783768276833[214] = 0; + out_830203783768276833[215] = 0; + out_830203783768276833[216] = 0; + out_830203783768276833[217] = 0; + out_830203783768276833[218] = 0; + out_830203783768276833[219] = 0; + out_830203783768276833[220] = 0; + out_830203783768276833[221] = 0; + out_830203783768276833[222] = 0; + out_830203783768276833[223] = 0; + out_830203783768276833[224] = 0; + out_830203783768276833[225] = 0; + out_830203783768276833[226] = 0; + out_830203783768276833[227] = 0; + out_830203783768276833[228] = 1; + out_830203783768276833[229] = 0; + out_830203783768276833[230] = 0; + out_830203783768276833[231] = 0; + out_830203783768276833[232] = 0; + out_830203783768276833[233] = 0; + out_830203783768276833[234] = 0; + out_830203783768276833[235] = 0; + out_830203783768276833[236] = 0; + out_830203783768276833[237] = 0; + out_830203783768276833[238] = 0; + out_830203783768276833[239] = 0; + out_830203783768276833[240] = 0; + out_830203783768276833[241] = 0; + out_830203783768276833[242] = 0; + out_830203783768276833[243] = 0; + out_830203783768276833[244] = 0; + out_830203783768276833[245] = 0; + out_830203783768276833[246] = 0; + out_830203783768276833[247] = 1; + out_830203783768276833[248] = 0; + out_830203783768276833[249] = 0; + out_830203783768276833[250] = 0; + out_830203783768276833[251] = 0; + out_830203783768276833[252] = 0; + out_830203783768276833[253] = 0; + out_830203783768276833[254] = 0; + out_830203783768276833[255] = 0; + out_830203783768276833[256] = 0; + out_830203783768276833[257] = 0; + out_830203783768276833[258] = 0; + out_830203783768276833[259] = 0; + out_830203783768276833[260] = 0; + out_830203783768276833[261] = 0; + out_830203783768276833[262] = 0; + out_830203783768276833[263] = 0; + out_830203783768276833[264] = 0; + out_830203783768276833[265] = 0; + out_830203783768276833[266] = 1; + out_830203783768276833[267] = 0; + out_830203783768276833[268] = 0; + out_830203783768276833[269] = 0; + out_830203783768276833[270] = 0; + out_830203783768276833[271] = 0; + out_830203783768276833[272] = 0; + out_830203783768276833[273] = 0; + out_830203783768276833[274] = 0; + out_830203783768276833[275] = 0; + out_830203783768276833[276] = 0; + out_830203783768276833[277] = 0; + out_830203783768276833[278] = 0; + out_830203783768276833[279] = 0; + out_830203783768276833[280] = 0; + out_830203783768276833[281] = 0; + out_830203783768276833[282] = 0; + out_830203783768276833[283] = 0; + out_830203783768276833[284] = 0; + out_830203783768276833[285] = 1; + out_830203783768276833[286] = 0; + out_830203783768276833[287] = 0; + out_830203783768276833[288] = 0; + out_830203783768276833[289] = 0; + out_830203783768276833[290] = 0; + out_830203783768276833[291] = 0; + out_830203783768276833[292] = 0; + out_830203783768276833[293] = 0; + out_830203783768276833[294] = 0; + out_830203783768276833[295] = 0; + out_830203783768276833[296] = 0; + out_830203783768276833[297] = 0; + out_830203783768276833[298] = 0; + out_830203783768276833[299] = 0; + out_830203783768276833[300] = 0; + out_830203783768276833[301] = 0; + out_830203783768276833[302] = 0; + out_830203783768276833[303] = 0; + out_830203783768276833[304] = 1; + out_830203783768276833[305] = 0; + out_830203783768276833[306] = 0; + out_830203783768276833[307] = 0; + out_830203783768276833[308] = 0; + out_830203783768276833[309] = 0; + out_830203783768276833[310] = 0; + out_830203783768276833[311] = 0; + out_830203783768276833[312] = 0; + out_830203783768276833[313] = 0; + out_830203783768276833[314] = 0; + out_830203783768276833[315] = 0; + out_830203783768276833[316] = 0; + out_830203783768276833[317] = 0; + out_830203783768276833[318] = 0; + out_830203783768276833[319] = 0; + out_830203783768276833[320] = 0; + out_830203783768276833[321] = 0; + out_830203783768276833[322] = 0; + out_830203783768276833[323] = 1; } -void h_4(double *state, double *unused, double *out_2401275546657747080) { - out_2401275546657747080[0] = state[6] + state[9]; - out_2401275546657747080[1] = state[7] + state[10]; - out_2401275546657747080[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1652667498977980545) { + out_1652667498977980545[0] = state[6] + state[9]; + out_1652667498977980545[1] = state[7] + state[10]; + out_1652667498977980545[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1593472091935329516) { - out_1593472091935329516[0] = 0; - out_1593472091935329516[1] = 0; - out_1593472091935329516[2] = 0; - out_1593472091935329516[3] = 0; - out_1593472091935329516[4] = 0; - out_1593472091935329516[5] = 0; - out_1593472091935329516[6] = 1; - out_1593472091935329516[7] = 0; - out_1593472091935329516[8] = 0; - out_1593472091935329516[9] = 1; - out_1593472091935329516[10] = 0; - out_1593472091935329516[11] = 0; - out_1593472091935329516[12] = 0; - out_1593472091935329516[13] = 0; - out_1593472091935329516[14] = 0; - out_1593472091935329516[15] = 0; - out_1593472091935329516[16] = 0; - out_1593472091935329516[17] = 0; - out_1593472091935329516[18] = 0; - out_1593472091935329516[19] = 0; - out_1593472091935329516[20] = 0; - out_1593472091935329516[21] = 0; - out_1593472091935329516[22] = 0; - out_1593472091935329516[23] = 0; - out_1593472091935329516[24] = 0; - out_1593472091935329516[25] = 1; - out_1593472091935329516[26] = 0; - out_1593472091935329516[27] = 0; - out_1593472091935329516[28] = 1; - out_1593472091935329516[29] = 0; - out_1593472091935329516[30] = 0; - out_1593472091935329516[31] = 0; - out_1593472091935329516[32] = 0; - out_1593472091935329516[33] = 0; - out_1593472091935329516[34] = 0; - out_1593472091935329516[35] = 0; - out_1593472091935329516[36] = 0; - out_1593472091935329516[37] = 0; - out_1593472091935329516[38] = 0; - out_1593472091935329516[39] = 0; - out_1593472091935329516[40] = 0; - out_1593472091935329516[41] = 0; - out_1593472091935329516[42] = 0; - out_1593472091935329516[43] = 0; - out_1593472091935329516[44] = 1; - out_1593472091935329516[45] = 0; - out_1593472091935329516[46] = 0; - out_1593472091935329516[47] = 1; - out_1593472091935329516[48] = 0; - out_1593472091935329516[49] = 0; - out_1593472091935329516[50] = 0; - out_1593472091935329516[51] = 0; - out_1593472091935329516[52] = 0; - out_1593472091935329516[53] = 0; +void H_4(double *state, double *unused, double *out_2065332728427663759) { + out_2065332728427663759[0] = 0; + out_2065332728427663759[1] = 0; + out_2065332728427663759[2] = 0; + out_2065332728427663759[3] = 0; + out_2065332728427663759[4] = 0; + out_2065332728427663759[5] = 0; + out_2065332728427663759[6] = 1; + out_2065332728427663759[7] = 0; + out_2065332728427663759[8] = 0; + out_2065332728427663759[9] = 1; + out_2065332728427663759[10] = 0; + out_2065332728427663759[11] = 0; + out_2065332728427663759[12] = 0; + out_2065332728427663759[13] = 0; + out_2065332728427663759[14] = 0; + out_2065332728427663759[15] = 0; + out_2065332728427663759[16] = 0; + out_2065332728427663759[17] = 0; + out_2065332728427663759[18] = 0; + out_2065332728427663759[19] = 0; + out_2065332728427663759[20] = 0; + out_2065332728427663759[21] = 0; + out_2065332728427663759[22] = 0; + out_2065332728427663759[23] = 0; + out_2065332728427663759[24] = 0; + out_2065332728427663759[25] = 1; + out_2065332728427663759[26] = 0; + out_2065332728427663759[27] = 0; + out_2065332728427663759[28] = 1; + out_2065332728427663759[29] = 0; + out_2065332728427663759[30] = 0; + out_2065332728427663759[31] = 0; + out_2065332728427663759[32] = 0; + out_2065332728427663759[33] = 0; + out_2065332728427663759[34] = 0; + out_2065332728427663759[35] = 0; + out_2065332728427663759[36] = 0; + out_2065332728427663759[37] = 0; + out_2065332728427663759[38] = 0; + out_2065332728427663759[39] = 0; + out_2065332728427663759[40] = 0; + out_2065332728427663759[41] = 0; + out_2065332728427663759[42] = 0; + out_2065332728427663759[43] = 0; + out_2065332728427663759[44] = 1; + out_2065332728427663759[45] = 0; + out_2065332728427663759[46] = 0; + out_2065332728427663759[47] = 1; + out_2065332728427663759[48] = 0; + out_2065332728427663759[49] = 0; + out_2065332728427663759[50] = 0; + out_2065332728427663759[51] = 0; + out_2065332728427663759[52] = 0; + out_2065332728427663759[53] = 0; } -void h_10(double *state, double *unused, double *out_7020895229304053766) { - out_7020895229304053766[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7020895229304053766[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7020895229304053766[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_8803253396773735652) { + out_8803253396773735652[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8803253396773735652[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8803253396773735652[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_299233475658510513) { - out_299233475658510513[0] = 0; - out_299233475658510513[1] = 9.8100000000000005*cos(state[1]); - out_299233475658510513[2] = 0; - out_299233475658510513[3] = 0; - out_299233475658510513[4] = -state[8]; - out_299233475658510513[5] = state[7]; - out_299233475658510513[6] = 0; - out_299233475658510513[7] = state[5]; - out_299233475658510513[8] = -state[4]; - out_299233475658510513[9] = 0; - out_299233475658510513[10] = 0; - out_299233475658510513[11] = 0; - out_299233475658510513[12] = 1; - out_299233475658510513[13] = 0; - out_299233475658510513[14] = 0; - out_299233475658510513[15] = 1; - out_299233475658510513[16] = 0; - out_299233475658510513[17] = 0; - out_299233475658510513[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_299233475658510513[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_299233475658510513[20] = 0; - out_299233475658510513[21] = state[8]; - out_299233475658510513[22] = 0; - out_299233475658510513[23] = -state[6]; - out_299233475658510513[24] = -state[5]; - out_299233475658510513[25] = 0; - out_299233475658510513[26] = state[3]; - out_299233475658510513[27] = 0; - out_299233475658510513[28] = 0; - out_299233475658510513[29] = 0; - out_299233475658510513[30] = 0; - out_299233475658510513[31] = 1; - out_299233475658510513[32] = 0; - out_299233475658510513[33] = 0; - out_299233475658510513[34] = 1; - out_299233475658510513[35] = 0; - out_299233475658510513[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_299233475658510513[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_299233475658510513[38] = 0; - out_299233475658510513[39] = -state[7]; - out_299233475658510513[40] = state[6]; - out_299233475658510513[41] = 0; - out_299233475658510513[42] = state[4]; - out_299233475658510513[43] = -state[3]; - out_299233475658510513[44] = 0; - out_299233475658510513[45] = 0; - out_299233475658510513[46] = 0; - out_299233475658510513[47] = 0; - out_299233475658510513[48] = 0; - out_299233475658510513[49] = 0; - out_299233475658510513[50] = 1; - out_299233475658510513[51] = 0; - out_299233475658510513[52] = 0; - out_299233475658510513[53] = 1; +void H_10(double *state, double *unused, double *out_1768777245936477788) { + out_1768777245936477788[0] = 0; + out_1768777245936477788[1] = 9.8100000000000005*cos(state[1]); + out_1768777245936477788[2] = 0; + out_1768777245936477788[3] = 0; + out_1768777245936477788[4] = -state[8]; + out_1768777245936477788[5] = state[7]; + out_1768777245936477788[6] = 0; + out_1768777245936477788[7] = state[5]; + out_1768777245936477788[8] = -state[4]; + out_1768777245936477788[9] = 0; + out_1768777245936477788[10] = 0; + out_1768777245936477788[11] = 0; + out_1768777245936477788[12] = 1; + out_1768777245936477788[13] = 0; + out_1768777245936477788[14] = 0; + out_1768777245936477788[15] = 1; + out_1768777245936477788[16] = 0; + out_1768777245936477788[17] = 0; + out_1768777245936477788[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1768777245936477788[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1768777245936477788[20] = 0; + out_1768777245936477788[21] = state[8]; + out_1768777245936477788[22] = 0; + out_1768777245936477788[23] = -state[6]; + out_1768777245936477788[24] = -state[5]; + out_1768777245936477788[25] = 0; + out_1768777245936477788[26] = state[3]; + out_1768777245936477788[27] = 0; + out_1768777245936477788[28] = 0; + out_1768777245936477788[29] = 0; + out_1768777245936477788[30] = 0; + out_1768777245936477788[31] = 1; + out_1768777245936477788[32] = 0; + out_1768777245936477788[33] = 0; + out_1768777245936477788[34] = 1; + out_1768777245936477788[35] = 0; + out_1768777245936477788[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1768777245936477788[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1768777245936477788[38] = 0; + out_1768777245936477788[39] = -state[7]; + out_1768777245936477788[40] = state[6]; + out_1768777245936477788[41] = 0; + out_1768777245936477788[42] = state[4]; + out_1768777245936477788[43] = -state[3]; + out_1768777245936477788[44] = 0; + out_1768777245936477788[45] = 0; + out_1768777245936477788[46] = 0; + out_1768777245936477788[47] = 0; + out_1768777245936477788[48] = 0; + out_1768777245936477788[49] = 0; + out_1768777245936477788[50] = 1; + out_1768777245936477788[51] = 0; + out_1768777245936477788[52] = 0; + out_1768777245936477788[53] = 1; } -void h_13(double *state, double *unused, double *out_2810480351238834931) { - out_2810480351238834931[0] = state[3]; - out_2810480351238834931[1] = state[4]; - out_2810480351238834931[2] = state[5]; +void h_13(double *state, double *unused, double *out_5388839778110327076) { + out_5388839778110327076[0] = state[3]; + out_5388839778110327076[1] = state[4]; + out_5388839778110327076[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4805745917267662317) { - out_4805745917267662317[0] = 0; - out_4805745917267662317[1] = 0; - out_4805745917267662317[2] = 0; - out_4805745917267662317[3] = 1; - out_4805745917267662317[4] = 0; - out_4805745917267662317[5] = 0; - out_4805745917267662317[6] = 0; - out_4805745917267662317[7] = 0; - out_4805745917267662317[8] = 0; - out_4805745917267662317[9] = 0; - out_4805745917267662317[10] = 0; - out_4805745917267662317[11] = 0; - out_4805745917267662317[12] = 0; - out_4805745917267662317[13] = 0; - out_4805745917267662317[14] = 0; - out_4805745917267662317[15] = 0; - out_4805745917267662317[16] = 0; - out_4805745917267662317[17] = 0; - out_4805745917267662317[18] = 0; - out_4805745917267662317[19] = 0; - out_4805745917267662317[20] = 0; - out_4805745917267662317[21] = 0; - out_4805745917267662317[22] = 1; - out_4805745917267662317[23] = 0; - out_4805745917267662317[24] = 0; - out_4805745917267662317[25] = 0; - out_4805745917267662317[26] = 0; - out_4805745917267662317[27] = 0; - out_4805745917267662317[28] = 0; - out_4805745917267662317[29] = 0; - out_4805745917267662317[30] = 0; - out_4805745917267662317[31] = 0; - out_4805745917267662317[32] = 0; - out_4805745917267662317[33] = 0; - out_4805745917267662317[34] = 0; - out_4805745917267662317[35] = 0; - out_4805745917267662317[36] = 0; - out_4805745917267662317[37] = 0; - out_4805745917267662317[38] = 0; - out_4805745917267662317[39] = 0; - out_4805745917267662317[40] = 0; - out_4805745917267662317[41] = 1; - out_4805745917267662317[42] = 0; - out_4805745917267662317[43] = 0; - out_4805745917267662317[44] = 0; - out_4805745917267662317[45] = 0; - out_4805745917267662317[46] = 0; - out_4805745917267662317[47] = 0; - out_4805745917267662317[48] = 0; - out_4805745917267662317[49] = 0; - out_4805745917267662317[50] = 0; - out_4805745917267662317[51] = 0; - out_4805745917267662317[52] = 0; - out_4805745917267662317[53] = 0; +void H_13(double *state, double *unused, double *out_1146941096904669042) { + out_1146941096904669042[0] = 0; + out_1146941096904669042[1] = 0; + out_1146941096904669042[2] = 0; + out_1146941096904669042[3] = 1; + out_1146941096904669042[4] = 0; + out_1146941096904669042[5] = 0; + out_1146941096904669042[6] = 0; + out_1146941096904669042[7] = 0; + out_1146941096904669042[8] = 0; + out_1146941096904669042[9] = 0; + out_1146941096904669042[10] = 0; + out_1146941096904669042[11] = 0; + out_1146941096904669042[12] = 0; + out_1146941096904669042[13] = 0; + out_1146941096904669042[14] = 0; + out_1146941096904669042[15] = 0; + out_1146941096904669042[16] = 0; + out_1146941096904669042[17] = 0; + out_1146941096904669042[18] = 0; + out_1146941096904669042[19] = 0; + out_1146941096904669042[20] = 0; + out_1146941096904669042[21] = 0; + out_1146941096904669042[22] = 1; + out_1146941096904669042[23] = 0; + out_1146941096904669042[24] = 0; + out_1146941096904669042[25] = 0; + out_1146941096904669042[26] = 0; + out_1146941096904669042[27] = 0; + out_1146941096904669042[28] = 0; + out_1146941096904669042[29] = 0; + out_1146941096904669042[30] = 0; + out_1146941096904669042[31] = 0; + out_1146941096904669042[32] = 0; + out_1146941096904669042[33] = 0; + out_1146941096904669042[34] = 0; + out_1146941096904669042[35] = 0; + out_1146941096904669042[36] = 0; + out_1146941096904669042[37] = 0; + out_1146941096904669042[38] = 0; + out_1146941096904669042[39] = 0; + out_1146941096904669042[40] = 0; + out_1146941096904669042[41] = 1; + out_1146941096904669042[42] = 0; + out_1146941096904669042[43] = 0; + out_1146941096904669042[44] = 0; + out_1146941096904669042[45] = 0; + out_1146941096904669042[46] = 0; + out_1146941096904669042[47] = 0; + out_1146941096904669042[48] = 0; + out_1146941096904669042[49] = 0; + out_1146941096904669042[50] = 0; + out_1146941096904669042[51] = 0; + out_1146941096904669042[52] = 0; + out_1146941096904669042[53] = 0; } -void h_14(double *state, double *unused, double *out_6318162405249945056) { - out_6318162405249945056[0] = state[6]; - out_6318162405249945056[1] = state[7]; - out_6318162405249945056[2] = state[8]; +void h_14(double *state, double *unused, double *out_653899258242143155) { + out_653899258242143155[0] = state[6]; + out_653899258242143155[1] = state[7]; + out_653899258242143155[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5556712948274814045) { - out_5556712948274814045[0] = 0; - out_5556712948274814045[1] = 0; - out_5556712948274814045[2] = 0; - out_5556712948274814045[3] = 0; - out_5556712948274814045[4] = 0; - out_5556712948274814045[5] = 0; - out_5556712948274814045[6] = 1; - out_5556712948274814045[7] = 0; - out_5556712948274814045[8] = 0; - out_5556712948274814045[9] = 0; - out_5556712948274814045[10] = 0; - out_5556712948274814045[11] = 0; - out_5556712948274814045[12] = 0; - out_5556712948274814045[13] = 0; - out_5556712948274814045[14] = 0; - out_5556712948274814045[15] = 0; - out_5556712948274814045[16] = 0; - out_5556712948274814045[17] = 0; - out_5556712948274814045[18] = 0; - out_5556712948274814045[19] = 0; - out_5556712948274814045[20] = 0; - out_5556712948274814045[21] = 0; - out_5556712948274814045[22] = 0; - out_5556712948274814045[23] = 0; - out_5556712948274814045[24] = 0; - out_5556712948274814045[25] = 1; - out_5556712948274814045[26] = 0; - out_5556712948274814045[27] = 0; - out_5556712948274814045[28] = 0; - out_5556712948274814045[29] = 0; - out_5556712948274814045[30] = 0; - out_5556712948274814045[31] = 0; - out_5556712948274814045[32] = 0; - out_5556712948274814045[33] = 0; - out_5556712948274814045[34] = 0; - out_5556712948274814045[35] = 0; - out_5556712948274814045[36] = 0; - out_5556712948274814045[37] = 0; - out_5556712948274814045[38] = 0; - out_5556712948274814045[39] = 0; - out_5556712948274814045[40] = 0; - out_5556712948274814045[41] = 0; - out_5556712948274814045[42] = 0; - out_5556712948274814045[43] = 0; - out_5556712948274814045[44] = 1; - out_5556712948274814045[45] = 0; - out_5556712948274814045[46] = 0; - out_5556712948274814045[47] = 0; - out_5556712948274814045[48] = 0; - out_5556712948274814045[49] = 0; - out_5556712948274814045[50] = 0; - out_5556712948274814045[51] = 0; - out_5556712948274814045[52] = 0; - out_5556712948274814045[53] = 0; +void H_14(double *state, double *unused, double *out_1897908127911820770) { + out_1897908127911820770[0] = 0; + out_1897908127911820770[1] = 0; + out_1897908127911820770[2] = 0; + out_1897908127911820770[3] = 0; + out_1897908127911820770[4] = 0; + out_1897908127911820770[5] = 0; + out_1897908127911820770[6] = 1; + out_1897908127911820770[7] = 0; + out_1897908127911820770[8] = 0; + out_1897908127911820770[9] = 0; + out_1897908127911820770[10] = 0; + out_1897908127911820770[11] = 0; + out_1897908127911820770[12] = 0; + out_1897908127911820770[13] = 0; + out_1897908127911820770[14] = 0; + out_1897908127911820770[15] = 0; + out_1897908127911820770[16] = 0; + out_1897908127911820770[17] = 0; + out_1897908127911820770[18] = 0; + out_1897908127911820770[19] = 0; + out_1897908127911820770[20] = 0; + out_1897908127911820770[21] = 0; + out_1897908127911820770[22] = 0; + out_1897908127911820770[23] = 0; + out_1897908127911820770[24] = 0; + out_1897908127911820770[25] = 1; + out_1897908127911820770[26] = 0; + out_1897908127911820770[27] = 0; + out_1897908127911820770[28] = 0; + out_1897908127911820770[29] = 0; + out_1897908127911820770[30] = 0; + out_1897908127911820770[31] = 0; + out_1897908127911820770[32] = 0; + out_1897908127911820770[33] = 0; + out_1897908127911820770[34] = 0; + out_1897908127911820770[35] = 0; + out_1897908127911820770[36] = 0; + out_1897908127911820770[37] = 0; + out_1897908127911820770[38] = 0; + out_1897908127911820770[39] = 0; + out_1897908127911820770[40] = 0; + out_1897908127911820770[41] = 0; + out_1897908127911820770[42] = 0; + out_1897908127911820770[43] = 0; + out_1897908127911820770[44] = 1; + out_1897908127911820770[45] = 0; + out_1897908127911820770[46] = 0; + out_1897908127911820770[47] = 0; + out_1897908127911820770[48] = 0; + out_1897908127911820770[49] = 0; + out_1897908127911820770[50] = 0; + out_1897908127911820770[51] = 0; + out_1897908127911820770[52] = 0; + out_1897908127911820770[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_7828077856483360191) { - err_fun(nom_x, delta_x, out_7828077856483360191); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5813097801788606117) { + err_fun(nom_x, delta_x, out_5813097801788606117); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250) { - inv_err_fun(nom_x, true_x, out_978622641958652250); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274) { + inv_err_fun(nom_x, true_x, out_265932847343752274); } -void pose_H_mod_fun(double *state, double *out_7441553898687288237) { - H_mod_fun(state, out_7441553898687288237); +void pose_H_mod_fun(double *state, double *out_3782749078324294962) { + H_mod_fun(state, out_3782749078324294962); } -void pose_f_fun(double *state, double dt, double *out_8648120814934185415) { - f_fun(state, dt, out_8648120814934185415); +void pose_f_fun(double *state, double dt, double *out_2316687695349101514) { + f_fun(state, dt, out_2316687695349101514); } -void pose_F_fun(double *state, double dt, double *out_5073381682457521558) { - F_fun(state, dt, out_5073381682457521558); +void pose_F_fun(double *state, double dt, double *out_830203783768276833) { + F_fun(state, dt, out_830203783768276833); } -void pose_h_4(double *state, double *unused, double *out_2401275546657747080) { - h_4(state, unused, out_2401275546657747080); +void pose_h_4(double *state, double *unused, double *out_1652667498977980545) { + h_4(state, unused, out_1652667498977980545); } -void pose_H_4(double *state, double *unused, double *out_1593472091935329516) { - H_4(state, unused, out_1593472091935329516); +void pose_H_4(double *state, double *unused, double *out_2065332728427663759) { + H_4(state, unused, out_2065332728427663759); } -void pose_h_10(double *state, double *unused, double *out_7020895229304053766) { - h_10(state, unused, out_7020895229304053766); +void pose_h_10(double *state, double *unused, double *out_8803253396773735652) { + h_10(state, unused, out_8803253396773735652); } -void pose_H_10(double *state, double *unused, double *out_299233475658510513) { - H_10(state, unused, out_299233475658510513); +void pose_H_10(double *state, double *unused, double *out_1768777245936477788) { + H_10(state, unused, out_1768777245936477788); } -void pose_h_13(double *state, double *unused, double *out_2810480351238834931) { - h_13(state, unused, out_2810480351238834931); +void pose_h_13(double *state, double *unused, double *out_5388839778110327076) { + h_13(state, unused, out_5388839778110327076); } -void pose_H_13(double *state, double *unused, double *out_4805745917267662317) { - H_13(state, unused, out_4805745917267662317); +void pose_H_13(double *state, double *unused, double *out_1146941096904669042) { + H_13(state, unused, out_1146941096904669042); } -void pose_h_14(double *state, double *unused, double *out_6318162405249945056) { - h_14(state, unused, out_6318162405249945056); +void pose_h_14(double *state, double *unused, double *out_653899258242143155) { + h_14(state, unused, out_653899258242143155); } -void pose_H_14(double *state, double *unused, double *out_5556712948274814045) { - H_14(state, unused, out_5556712948274814045); +void pose_H_14(double *state, double *unused, double *out_1897908127911820770) { + H_14(state, unused, out_1897908127911820770); } 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 d6f2e652f..eeb554410 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_7828077856483360191); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_978622641958652250); -void pose_H_mod_fun(double *state, double *out_7441553898687288237); -void pose_f_fun(double *state, double dt, double *out_8648120814934185415); -void pose_F_fun(double *state, double dt, double *out_5073381682457521558); -void pose_h_4(double *state, double *unused, double *out_2401275546657747080); -void pose_H_4(double *state, double *unused, double *out_1593472091935329516); -void pose_h_10(double *state, double *unused, double *out_7020895229304053766); -void pose_H_10(double *state, double *unused, double *out_299233475658510513); -void pose_h_13(double *state, double *unused, double *out_2810480351238834931); -void pose_H_13(double *state, double *unused, double *out_4805745917267662317); -void pose_h_14(double *state, double *unused, double *out_6318162405249945056); -void pose_H_14(double *state, double *unused, double *out_5556712948274814045); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5813097801788606117); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_265932847343752274); +void pose_H_mod_fun(double *state, double *out_3782749078324294962); +void pose_f_fun(double *state, double dt, double *out_2316687695349101514); +void pose_F_fun(double *state, double dt, double *out_830203783768276833); +void pose_h_4(double *state, double *unused, double *out_1652667498977980545); +void pose_H_4(double *state, double *unused, double *out_2065332728427663759); +void pose_h_10(double *state, double *unused, double *out_8803253396773735652); +void pose_H_10(double *state, double *unused, double *out_1768777245936477788); +void pose_h_13(double *state, double *unused, double *out_5388839778110327076); +void pose_H_13(double *state, double *unused, double *out_1146941096904669042); +void pose_h_14(double *state, double *unused, double *out_653899258242143155); +void pose_H_14(double *state, double *unused, double *out_1897908127911820770); 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 30565a9d5..4908bf686 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 30f8c895e..2c3dd0b25 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 7fa536aec..e545d97f9 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 0513b40c0..b2a817d7f 100755 Binary files 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