diff --git a/build b/build index b66dbb74f..c39d925b5 100755 --- a/build +++ b/build @@ -105,4 +105,8 @@ if [[ "${#shortcut_targets[@]}" -gt 0 ]]; then exit "${status}" fi -exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build "${original_args[@]}" +if [[ "${#original_args[@]}" -gt 0 ]]; then + exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build "${original_args[@]}" +fi + +exec "${ROOT_DIR}/scripts/laptop_device_build.sh" build diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index f4b6563f0..4ba1a060d 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index f48044375..8b7c4ce0c 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index c401163d1..a3f3eeac1 100755 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a/panda/board/obj/version b/panda/board/obj/version index 59b33b480..270540ad3 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-231eb68f-DEBUG \ No newline at end of file +DEV-2a3d2744-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 38485bd9a..18b969575 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_1393219424364542669) { - out_1393219424364542669[0] = delta_x[0] + nom_x[0]; - out_1393219424364542669[1] = delta_x[1] + nom_x[1]; - out_1393219424364542669[2] = delta_x[2] + nom_x[2]; - out_1393219424364542669[3] = delta_x[3] + nom_x[3]; - out_1393219424364542669[4] = delta_x[4] + nom_x[4]; - out_1393219424364542669[5] = delta_x[5] + nom_x[5]; - out_1393219424364542669[6] = delta_x[6] + nom_x[6]; - out_1393219424364542669[7] = delta_x[7] + nom_x[7]; - out_1393219424364542669[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_1054824998219177113) { + out_1054824998219177113[0] = delta_x[0] + nom_x[0]; + out_1054824998219177113[1] = delta_x[1] + nom_x[1]; + out_1054824998219177113[2] = delta_x[2] + nom_x[2]; + out_1054824998219177113[3] = delta_x[3] + nom_x[3]; + out_1054824998219177113[4] = delta_x[4] + nom_x[4]; + out_1054824998219177113[5] = delta_x[5] + nom_x[5]; + out_1054824998219177113[6] = delta_x[6] + nom_x[6]; + out_1054824998219177113[7] = delta_x[7] + nom_x[7]; + out_1054824998219177113[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) { - out_8544281472794776121[0] = -nom_x[0] + true_x[0]; - out_8544281472794776121[1] = -nom_x[1] + true_x[1]; - out_8544281472794776121[2] = -nom_x[2] + true_x[2]; - out_8544281472794776121[3] = -nom_x[3] + true_x[3]; - out_8544281472794776121[4] = -nom_x[4] + true_x[4]; - out_8544281472794776121[5] = -nom_x[5] + true_x[5]; - out_8544281472794776121[6] = -nom_x[6] + true_x[6]; - out_8544281472794776121[7] = -nom_x[7] + true_x[7]; - out_8544281472794776121[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899) { + out_8618844445394053899[0] = -nom_x[0] + true_x[0]; + out_8618844445394053899[1] = -nom_x[1] + true_x[1]; + out_8618844445394053899[2] = -nom_x[2] + true_x[2]; + out_8618844445394053899[3] = -nom_x[3] + true_x[3]; + out_8618844445394053899[4] = -nom_x[4] + true_x[4]; + out_8618844445394053899[5] = -nom_x[5] + true_x[5]; + out_8618844445394053899[6] = -nom_x[6] + true_x[6]; + out_8618844445394053899[7] = -nom_x[7] + true_x[7]; + out_8618844445394053899[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_542719001883324995) { - out_542719001883324995[0] = 1.0; - out_542719001883324995[1] = 0.0; - out_542719001883324995[2] = 0.0; - out_542719001883324995[3] = 0.0; - out_542719001883324995[4] = 0.0; - out_542719001883324995[5] = 0.0; - out_542719001883324995[6] = 0.0; - out_542719001883324995[7] = 0.0; - out_542719001883324995[8] = 0.0; - out_542719001883324995[9] = 0.0; - out_542719001883324995[10] = 1.0; - out_542719001883324995[11] = 0.0; - out_542719001883324995[12] = 0.0; - out_542719001883324995[13] = 0.0; - out_542719001883324995[14] = 0.0; - out_542719001883324995[15] = 0.0; - out_542719001883324995[16] = 0.0; - out_542719001883324995[17] = 0.0; - out_542719001883324995[18] = 0.0; - out_542719001883324995[19] = 0.0; - out_542719001883324995[20] = 1.0; - out_542719001883324995[21] = 0.0; - out_542719001883324995[22] = 0.0; - out_542719001883324995[23] = 0.0; - out_542719001883324995[24] = 0.0; - out_542719001883324995[25] = 0.0; - out_542719001883324995[26] = 0.0; - out_542719001883324995[27] = 0.0; - out_542719001883324995[28] = 0.0; - out_542719001883324995[29] = 0.0; - out_542719001883324995[30] = 1.0; - out_542719001883324995[31] = 0.0; - out_542719001883324995[32] = 0.0; - out_542719001883324995[33] = 0.0; - out_542719001883324995[34] = 0.0; - out_542719001883324995[35] = 0.0; - out_542719001883324995[36] = 0.0; - out_542719001883324995[37] = 0.0; - out_542719001883324995[38] = 0.0; - out_542719001883324995[39] = 0.0; - out_542719001883324995[40] = 1.0; - out_542719001883324995[41] = 0.0; - out_542719001883324995[42] = 0.0; - out_542719001883324995[43] = 0.0; - out_542719001883324995[44] = 0.0; - out_542719001883324995[45] = 0.0; - out_542719001883324995[46] = 0.0; - out_542719001883324995[47] = 0.0; - out_542719001883324995[48] = 0.0; - out_542719001883324995[49] = 0.0; - out_542719001883324995[50] = 1.0; - out_542719001883324995[51] = 0.0; - out_542719001883324995[52] = 0.0; - out_542719001883324995[53] = 0.0; - out_542719001883324995[54] = 0.0; - out_542719001883324995[55] = 0.0; - out_542719001883324995[56] = 0.0; - out_542719001883324995[57] = 0.0; - out_542719001883324995[58] = 0.0; - out_542719001883324995[59] = 0.0; - out_542719001883324995[60] = 1.0; - out_542719001883324995[61] = 0.0; - out_542719001883324995[62] = 0.0; - out_542719001883324995[63] = 0.0; - out_542719001883324995[64] = 0.0; - out_542719001883324995[65] = 0.0; - out_542719001883324995[66] = 0.0; - out_542719001883324995[67] = 0.0; - out_542719001883324995[68] = 0.0; - out_542719001883324995[69] = 0.0; - out_542719001883324995[70] = 1.0; - out_542719001883324995[71] = 0.0; - out_542719001883324995[72] = 0.0; - out_542719001883324995[73] = 0.0; - out_542719001883324995[74] = 0.0; - out_542719001883324995[75] = 0.0; - out_542719001883324995[76] = 0.0; - out_542719001883324995[77] = 0.0; - out_542719001883324995[78] = 0.0; - out_542719001883324995[79] = 0.0; - out_542719001883324995[80] = 1.0; +void H_mod_fun(double *state, double *out_9083000739620874267) { + out_9083000739620874267[0] = 1.0; + out_9083000739620874267[1] = 0.0; + out_9083000739620874267[2] = 0.0; + out_9083000739620874267[3] = 0.0; + out_9083000739620874267[4] = 0.0; + out_9083000739620874267[5] = 0.0; + out_9083000739620874267[6] = 0.0; + out_9083000739620874267[7] = 0.0; + out_9083000739620874267[8] = 0.0; + out_9083000739620874267[9] = 0.0; + out_9083000739620874267[10] = 1.0; + out_9083000739620874267[11] = 0.0; + out_9083000739620874267[12] = 0.0; + out_9083000739620874267[13] = 0.0; + out_9083000739620874267[14] = 0.0; + out_9083000739620874267[15] = 0.0; + out_9083000739620874267[16] = 0.0; + out_9083000739620874267[17] = 0.0; + out_9083000739620874267[18] = 0.0; + out_9083000739620874267[19] = 0.0; + out_9083000739620874267[20] = 1.0; + out_9083000739620874267[21] = 0.0; + out_9083000739620874267[22] = 0.0; + out_9083000739620874267[23] = 0.0; + out_9083000739620874267[24] = 0.0; + out_9083000739620874267[25] = 0.0; + out_9083000739620874267[26] = 0.0; + out_9083000739620874267[27] = 0.0; + out_9083000739620874267[28] = 0.0; + out_9083000739620874267[29] = 0.0; + out_9083000739620874267[30] = 1.0; + out_9083000739620874267[31] = 0.0; + out_9083000739620874267[32] = 0.0; + out_9083000739620874267[33] = 0.0; + out_9083000739620874267[34] = 0.0; + out_9083000739620874267[35] = 0.0; + out_9083000739620874267[36] = 0.0; + out_9083000739620874267[37] = 0.0; + out_9083000739620874267[38] = 0.0; + out_9083000739620874267[39] = 0.0; + out_9083000739620874267[40] = 1.0; + out_9083000739620874267[41] = 0.0; + out_9083000739620874267[42] = 0.0; + out_9083000739620874267[43] = 0.0; + out_9083000739620874267[44] = 0.0; + out_9083000739620874267[45] = 0.0; + out_9083000739620874267[46] = 0.0; + out_9083000739620874267[47] = 0.0; + out_9083000739620874267[48] = 0.0; + out_9083000739620874267[49] = 0.0; + out_9083000739620874267[50] = 1.0; + out_9083000739620874267[51] = 0.0; + out_9083000739620874267[52] = 0.0; + out_9083000739620874267[53] = 0.0; + out_9083000739620874267[54] = 0.0; + out_9083000739620874267[55] = 0.0; + out_9083000739620874267[56] = 0.0; + out_9083000739620874267[57] = 0.0; + out_9083000739620874267[58] = 0.0; + out_9083000739620874267[59] = 0.0; + out_9083000739620874267[60] = 1.0; + out_9083000739620874267[61] = 0.0; + out_9083000739620874267[62] = 0.0; + out_9083000739620874267[63] = 0.0; + out_9083000739620874267[64] = 0.0; + out_9083000739620874267[65] = 0.0; + out_9083000739620874267[66] = 0.0; + out_9083000739620874267[67] = 0.0; + out_9083000739620874267[68] = 0.0; + out_9083000739620874267[69] = 0.0; + out_9083000739620874267[70] = 1.0; + out_9083000739620874267[71] = 0.0; + out_9083000739620874267[72] = 0.0; + out_9083000739620874267[73] = 0.0; + out_9083000739620874267[74] = 0.0; + out_9083000739620874267[75] = 0.0; + out_9083000739620874267[76] = 0.0; + out_9083000739620874267[77] = 0.0; + out_9083000739620874267[78] = 0.0; + out_9083000739620874267[79] = 0.0; + out_9083000739620874267[80] = 1.0; } -void f_fun(double *state, double dt, double *out_9203753821438188332) { - out_9203753821438188332[0] = state[0]; - out_9203753821438188332[1] = state[1]; - out_9203753821438188332[2] = state[2]; - out_9203753821438188332[3] = state[3]; - out_9203753821438188332[4] = state[4]; - out_9203753821438188332[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_9203753821438188332[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_9203753821438188332[7] = state[7]; - out_9203753821438188332[8] = state[8]; +void f_fun(double *state, double dt, double *out_2939712332855985662) { + out_2939712332855985662[0] = state[0]; + out_2939712332855985662[1] = state[1]; + out_2939712332855985662[2] = state[2]; + out_2939712332855985662[3] = state[3]; + out_2939712332855985662[4] = state[4]; + out_2939712332855985662[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_2939712332855985662[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_2939712332855985662[7] = state[7]; + out_2939712332855985662[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1821220582526959893) { - out_1821220582526959893[0] = 1; - out_1821220582526959893[1] = 0; - out_1821220582526959893[2] = 0; - out_1821220582526959893[3] = 0; - out_1821220582526959893[4] = 0; - out_1821220582526959893[5] = 0; - out_1821220582526959893[6] = 0; - out_1821220582526959893[7] = 0; - out_1821220582526959893[8] = 0; - out_1821220582526959893[9] = 0; - out_1821220582526959893[10] = 1; - out_1821220582526959893[11] = 0; - out_1821220582526959893[12] = 0; - out_1821220582526959893[13] = 0; - out_1821220582526959893[14] = 0; - out_1821220582526959893[15] = 0; - out_1821220582526959893[16] = 0; - out_1821220582526959893[17] = 0; - out_1821220582526959893[18] = 0; - out_1821220582526959893[19] = 0; - out_1821220582526959893[20] = 1; - out_1821220582526959893[21] = 0; - out_1821220582526959893[22] = 0; - out_1821220582526959893[23] = 0; - out_1821220582526959893[24] = 0; - out_1821220582526959893[25] = 0; - out_1821220582526959893[26] = 0; - out_1821220582526959893[27] = 0; - out_1821220582526959893[28] = 0; - out_1821220582526959893[29] = 0; - out_1821220582526959893[30] = 1; - out_1821220582526959893[31] = 0; - out_1821220582526959893[32] = 0; - out_1821220582526959893[33] = 0; - out_1821220582526959893[34] = 0; - out_1821220582526959893[35] = 0; - out_1821220582526959893[36] = 0; - out_1821220582526959893[37] = 0; - out_1821220582526959893[38] = 0; - out_1821220582526959893[39] = 0; - out_1821220582526959893[40] = 1; - out_1821220582526959893[41] = 0; - out_1821220582526959893[42] = 0; - out_1821220582526959893[43] = 0; - out_1821220582526959893[44] = 0; - out_1821220582526959893[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_1821220582526959893[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1821220582526959893[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1821220582526959893[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1821220582526959893[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_1821220582526959893[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1821220582526959893[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1821220582526959893[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1821220582526959893[53] = -9.8100000000000005*dt; - out_1821220582526959893[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_1821220582526959893[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1821220582526959893[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1821220582526959893[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1821220582526959893[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_1821220582526959893[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1821220582526959893[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_1821220582526959893[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1821220582526959893[62] = 0; - out_1821220582526959893[63] = 0; - out_1821220582526959893[64] = 0; - out_1821220582526959893[65] = 0; - out_1821220582526959893[66] = 0; - out_1821220582526959893[67] = 0; - out_1821220582526959893[68] = 0; - out_1821220582526959893[69] = 0; - out_1821220582526959893[70] = 1; - out_1821220582526959893[71] = 0; - out_1821220582526959893[72] = 0; - out_1821220582526959893[73] = 0; - out_1821220582526959893[74] = 0; - out_1821220582526959893[75] = 0; - out_1821220582526959893[76] = 0; - out_1821220582526959893[77] = 0; - out_1821220582526959893[78] = 0; - out_1821220582526959893[79] = 0; - out_1821220582526959893[80] = 1; +void F_fun(double *state, double dt, double *out_9197210553723469698) { + out_9197210553723469698[0] = 1; + out_9197210553723469698[1] = 0; + out_9197210553723469698[2] = 0; + out_9197210553723469698[3] = 0; + out_9197210553723469698[4] = 0; + out_9197210553723469698[5] = 0; + out_9197210553723469698[6] = 0; + out_9197210553723469698[7] = 0; + out_9197210553723469698[8] = 0; + out_9197210553723469698[9] = 0; + out_9197210553723469698[10] = 1; + out_9197210553723469698[11] = 0; + out_9197210553723469698[12] = 0; + out_9197210553723469698[13] = 0; + out_9197210553723469698[14] = 0; + out_9197210553723469698[15] = 0; + out_9197210553723469698[16] = 0; + out_9197210553723469698[17] = 0; + out_9197210553723469698[18] = 0; + out_9197210553723469698[19] = 0; + out_9197210553723469698[20] = 1; + out_9197210553723469698[21] = 0; + out_9197210553723469698[22] = 0; + out_9197210553723469698[23] = 0; + out_9197210553723469698[24] = 0; + out_9197210553723469698[25] = 0; + out_9197210553723469698[26] = 0; + out_9197210553723469698[27] = 0; + out_9197210553723469698[28] = 0; + out_9197210553723469698[29] = 0; + out_9197210553723469698[30] = 1; + out_9197210553723469698[31] = 0; + out_9197210553723469698[32] = 0; + out_9197210553723469698[33] = 0; + out_9197210553723469698[34] = 0; + out_9197210553723469698[35] = 0; + out_9197210553723469698[36] = 0; + out_9197210553723469698[37] = 0; + out_9197210553723469698[38] = 0; + out_9197210553723469698[39] = 0; + out_9197210553723469698[40] = 1; + out_9197210553723469698[41] = 0; + out_9197210553723469698[42] = 0; + out_9197210553723469698[43] = 0; + out_9197210553723469698[44] = 0; + out_9197210553723469698[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_9197210553723469698[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_9197210553723469698[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_9197210553723469698[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_9197210553723469698[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_9197210553723469698[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_9197210553723469698[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_9197210553723469698[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_9197210553723469698[53] = -9.8100000000000005*dt; + out_9197210553723469698[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_9197210553723469698[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_9197210553723469698[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_9197210553723469698[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_9197210553723469698[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_9197210553723469698[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_9197210553723469698[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_9197210553723469698[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_9197210553723469698[62] = 0; + out_9197210553723469698[63] = 0; + out_9197210553723469698[64] = 0; + out_9197210553723469698[65] = 0; + out_9197210553723469698[66] = 0; + out_9197210553723469698[67] = 0; + out_9197210553723469698[68] = 0; + out_9197210553723469698[69] = 0; + out_9197210553723469698[70] = 1; + out_9197210553723469698[71] = 0; + out_9197210553723469698[72] = 0; + out_9197210553723469698[73] = 0; + out_9197210553723469698[74] = 0; + out_9197210553723469698[75] = 0; + out_9197210553723469698[76] = 0; + out_9197210553723469698[77] = 0; + out_9197210553723469698[78] = 0; + out_9197210553723469698[79] = 0; + out_9197210553723469698[80] = 1; } -void h_25(double *state, double *unused, double *out_7848411301120641124) { - out_7848411301120641124[0] = state[6]; +void h_25(double *state, double *unused, double *out_7502443551709492094) { + out_7502443551709492094[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6136977117952979916) { - out_6136977117952979916[0] = 0; - out_6136977117952979916[1] = 0; - out_6136977117952979916[2] = 0; - out_6136977117952979916[3] = 0; - out_6136977117952979916[4] = 0; - out_6136977117952979916[5] = 0; - out_6136977117952979916[6] = 1; - out_6136977117952979916[7] = 0; - out_6136977117952979916[8] = 0; +void H_25(double *state, double *unused, double *out_2585977779730844316) { + out_2585977779730844316[0] = 0; + out_2585977779730844316[1] = 0; + out_2585977779730844316[2] = 0; + out_2585977779730844316[3] = 0; + out_2585977779730844316[4] = 0; + out_2585977779730844316[5] = 0; + out_2585977779730844316[6] = 1; + out_2585977779730844316[7] = 0; + out_2585977779730844316[8] = 0; } -void h_24(double *state, double *unused, double *out_8292657587405145092) { - out_8292657587405145092[0] = state[4]; - out_8292657587405145092[1] = state[5]; +void h_24(double *state, double *unused, double *out_4099652252284200208) { + out_4099652252284200208[0] = state[4]; + out_4099652252284200208[1] = state[5]; } -void H_24(double *state, double *unused, double *out_3964327518947480350) { - out_3964327518947480350[0] = 0; - out_3964327518947480350[1] = 0; - out_3964327518947480350[2] = 0; - out_3964327518947480350[3] = 0; - out_3964327518947480350[4] = 1; - out_3964327518947480350[5] = 0; - out_3964327518947480350[6] = 0; - out_3964327518947480350[7] = 0; - out_3964327518947480350[8] = 0; - out_3964327518947480350[9] = 0; - out_3964327518947480350[10] = 0; - out_3964327518947480350[11] = 0; - out_3964327518947480350[12] = 0; - out_3964327518947480350[13] = 0; - out_3964327518947480350[14] = 1; - out_3964327518947480350[15] = 0; - out_3964327518947480350[16] = 0; - out_3964327518947480350[17] = 0; +void H_24(double *state, double *unused, double *out_2115520297687505592) { + out_2115520297687505592[0] = 0; + out_2115520297687505592[1] = 0; + out_2115520297687505592[2] = 0; + out_2115520297687505592[3] = 0; + out_2115520297687505592[4] = 1; + out_2115520297687505592[5] = 0; + out_2115520297687505592[6] = 0; + out_2115520297687505592[7] = 0; + out_2115520297687505592[8] = 0; + out_2115520297687505592[9] = 0; + out_2115520297687505592[10] = 0; + out_2115520297687505592[11] = 0; + out_2115520297687505592[12] = 0; + out_2115520297687505592[13] = 0; + out_2115520297687505592[14] = 1; + out_2115520297687505592[15] = 0; + out_2115520297687505592[16] = 0; + out_2115520297687505592[17] = 0; } -void h_30(double *state, double *unused, double *out_1692964105279980995) { - out_1692964105279980995[0] = state[4]; +void h_30(double *state, double *unused, double *out_7659630220060621239) { + out_7659630220060621239[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8655310076460228543) { - out_8655310076460228543[0] = 0; - out_8655310076460228543[1] = 0; - out_8655310076460228543[2] = 0; - out_8655310076460228543[3] = 0; - out_8655310076460228543[4] = 1; - out_8655310076460228543[5] = 0; - out_8655310076460228543[6] = 0; - out_8655310076460228543[7] = 0; - out_8655310076460228543[8] = 0; +void H_30(double *state, double *unused, double *out_2456638832587604246) { + out_2456638832587604246[0] = 0; + out_2456638832587604246[1] = 0; + out_2456638832587604246[2] = 0; + out_2456638832587604246[3] = 0; + out_2456638832587604246[4] = 1; + out_2456638832587604246[5] = 0; + out_2456638832587604246[6] = 0; + out_2456638832587604246[7] = 0; + out_2456638832587604246[8] = 0; } -void h_26(double *state, double *unused, double *out_6694637372940826640) { - out_6694637372940826640[0] = state[7]; +void h_26(double *state, double *unused, double *out_2198951171844088969) { + out_2198951171844088969[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2395473799078923692) { - out_2395473799078923692[0] = 0; - out_2395473799078923692[1] = 0; - out_2395473799078923692[2] = 0; - out_2395473799078923692[3] = 0; - out_2395473799078923692[4] = 0; - out_2395473799078923692[5] = 0; - out_2395473799078923692[6] = 0; - out_2395473799078923692[7] = 1; - out_2395473799078923692[8] = 0; +void H_26(double *state, double *unused, double *out_1155525539143211908) { + out_1155525539143211908[0] = 0; + out_1155525539143211908[1] = 0; + out_1155525539143211908[2] = 0; + out_1155525539143211908[3] = 0; + out_1155525539143211908[4] = 0; + out_1155525539143211908[5] = 0; + out_1155525539143211908[6] = 0; + out_1155525539143211908[7] = 1; + out_1155525539143211908[8] = 0; } -void h_27(double *state, double *unused, double *out_3658606002300167844) { - out_3658606002300167844[0] = state[3]; +void h_27(double *state, double *unused, double *out_5981920524318766290) { + out_5981920524318766290[0] = state[3]; } -void H_27(double *state, double *unused, double *out_6480546764659803632) { - out_6480546764659803632[0] = 0; - out_6480546764659803632[1] = 0; - out_6480546764659803632[2] = 0; - out_6480546764659803632[3] = 1; - out_6480546764659803632[4] = 0; - out_6480546764659803632[5] = 0; - out_6480546764659803632[6] = 0; - out_6480546764659803632[7] = 0; - out_6480546764659803632[8] = 0; +void H_27(double *state, double *unused, double *out_281875520787179335) { + out_281875520787179335[0] = 0; + out_281875520787179335[1] = 0; + out_281875520787179335[2] = 0; + out_281875520787179335[3] = 1; + out_281875520787179335[4] = 0; + out_281875520787179335[5] = 0; + out_281875520787179335[6] = 0; + out_281875520787179335[7] = 0; + out_281875520787179335[8] = 0; } -void h_29(double *state, double *unused, double *out_3383411940015661955) { - out_3383411940015661955[0] = state[1]; +void h_29(double *state, double *unused, double *out_1781344732501906151) { + out_1781344732501906151[0] = state[1]; } -void H_29(double *state, double *unused, double *out_9165541420774620727) { - out_9165541420774620727[0] = 0; - out_9165541420774620727[1] = 1; - out_9165541420774620727[2] = 0; - out_9165541420774620727[3] = 0; - out_9165541420774620727[4] = 0; - out_9165541420774620727[5] = 0; - out_9165541420774620727[6] = 0; - out_9165541420774620727[7] = 0; - out_9165541420774620727[8] = 0; +void H_29(double *state, double *unused, double *out_1431487206082371698) { + out_1431487206082371698[0] = 0; + out_1431487206082371698[1] = 1; + out_1431487206082371698[2] = 0; + out_1431487206082371698[3] = 0; + out_1431487206082371698[4] = 0; + out_1431487206082371698[5] = 0; + out_1431487206082371698[6] = 0; + out_1431487206082371698[7] = 0; + out_1431487206082371698[8] = 0; } -void h_28(double *state, double *unused, double *out_2219679485258547244) { - out_2219679485258547244[0] = state[0]; +void h_28(double *state, double *unused, double *out_2565647234669696274) { + out_2565647234669696274[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4083142403705090153) { - out_4083142403705090153[0] = 1; - out_4083142403705090153[1] = 0; - out_4083142403705090153[2] = 0; - out_4083142403705090153[3] = 0; - out_4083142403705090153[4] = 0; - out_4083142403705090153[5] = 0; - out_4083142403705090153[6] = 0; - out_4083142403705090153[7] = 0; - out_4083142403705090153[8] = 0; +void H_28(double *state, double *unused, double *out_6513886223151902272) { + out_6513886223151902272[0] = 1; + out_6513886223151902272[1] = 0; + out_6513886223151902272[2] = 0; + out_6513886223151902272[3] = 0; + out_6513886223151902272[4] = 0; + out_6513886223151902272[5] = 0; + out_6513886223151902272[6] = 0; + out_6513886223151902272[7] = 0; + out_6513886223151902272[8] = 0; } -void h_31(double *state, double *unused, double *out_8123605363405147013) { - out_8123605363405147013[0] = state[8]; +void h_31(double *state, double *unused, double *out_7751082483008271581) { + out_7751082483008271581[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1769265696845572216) { - out_1769265696845572216[0] = 0; - out_1769265696845572216[1] = 0; - out_1769265696845572216[2] = 0; - out_1769265696845572216[3] = 0; - out_1769265696845572216[4] = 0; - out_1769265696845572216[5] = 0; - out_1769265696845572216[6] = 0; - out_1769265696845572216[7] = 0; - out_1769265696845572216[8] = 1; +void H_31(double *state, double *unused, double *out_2616623741607804744) { + out_2616623741607804744[0] = 0; + out_2616623741607804744[1] = 0; + out_2616623741607804744[2] = 0; + out_2616623741607804744[3] = 0; + out_2616623741607804744[4] = 0; + out_2616623741607804744[5] = 0; + out_2616623741607804744[6] = 0; + out_2616623741607804744[7] = 0; + out_2616623741607804744[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_1393219424364542669) { - err_fun(nom_x, delta_x, out_1393219424364542669); +void car_err_fun(double *nom_x, double *delta_x, double *out_1054824998219177113) { + err_fun(nom_x, delta_x, out_1054824998219177113); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) { - inv_err_fun(nom_x, true_x, out_8544281472794776121); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899) { + inv_err_fun(nom_x, true_x, out_8618844445394053899); } -void car_H_mod_fun(double *state, double *out_542719001883324995) { - H_mod_fun(state, out_542719001883324995); +void car_H_mod_fun(double *state, double *out_9083000739620874267) { + H_mod_fun(state, out_9083000739620874267); } -void car_f_fun(double *state, double dt, double *out_9203753821438188332) { - f_fun(state, dt, out_9203753821438188332); +void car_f_fun(double *state, double dt, double *out_2939712332855985662) { + f_fun(state, dt, out_2939712332855985662); } -void car_F_fun(double *state, double dt, double *out_1821220582526959893) { - F_fun(state, dt, out_1821220582526959893); +void car_F_fun(double *state, double dt, double *out_9197210553723469698) { + F_fun(state, dt, out_9197210553723469698); } -void car_h_25(double *state, double *unused, double *out_7848411301120641124) { - h_25(state, unused, out_7848411301120641124); +void car_h_25(double *state, double *unused, double *out_7502443551709492094) { + h_25(state, unused, out_7502443551709492094); } -void car_H_25(double *state, double *unused, double *out_6136977117952979916) { - H_25(state, unused, out_6136977117952979916); +void car_H_25(double *state, double *unused, double *out_2585977779730844316) { + H_25(state, unused, out_2585977779730844316); } -void car_h_24(double *state, double *unused, double *out_8292657587405145092) { - h_24(state, unused, out_8292657587405145092); +void car_h_24(double *state, double *unused, double *out_4099652252284200208) { + h_24(state, unused, out_4099652252284200208); } -void car_H_24(double *state, double *unused, double *out_3964327518947480350) { - H_24(state, unused, out_3964327518947480350); +void car_H_24(double *state, double *unused, double *out_2115520297687505592) { + H_24(state, unused, out_2115520297687505592); } -void car_h_30(double *state, double *unused, double *out_1692964105279980995) { - h_30(state, unused, out_1692964105279980995); +void car_h_30(double *state, double *unused, double *out_7659630220060621239) { + h_30(state, unused, out_7659630220060621239); } -void car_H_30(double *state, double *unused, double *out_8655310076460228543) { - H_30(state, unused, out_8655310076460228543); +void car_H_30(double *state, double *unused, double *out_2456638832587604246) { + H_30(state, unused, out_2456638832587604246); } -void car_h_26(double *state, double *unused, double *out_6694637372940826640) { - h_26(state, unused, out_6694637372940826640); +void car_h_26(double *state, double *unused, double *out_2198951171844088969) { + h_26(state, unused, out_2198951171844088969); } -void car_H_26(double *state, double *unused, double *out_2395473799078923692) { - H_26(state, unused, out_2395473799078923692); +void car_H_26(double *state, double *unused, double *out_1155525539143211908) { + H_26(state, unused, out_1155525539143211908); } -void car_h_27(double *state, double *unused, double *out_3658606002300167844) { - h_27(state, unused, out_3658606002300167844); +void car_h_27(double *state, double *unused, double *out_5981920524318766290) { + h_27(state, unused, out_5981920524318766290); } -void car_H_27(double *state, double *unused, double *out_6480546764659803632) { - H_27(state, unused, out_6480546764659803632); +void car_H_27(double *state, double *unused, double *out_281875520787179335) { + H_27(state, unused, out_281875520787179335); } -void car_h_29(double *state, double *unused, double *out_3383411940015661955) { - h_29(state, unused, out_3383411940015661955); +void car_h_29(double *state, double *unused, double *out_1781344732501906151) { + h_29(state, unused, out_1781344732501906151); } -void car_H_29(double *state, double *unused, double *out_9165541420774620727) { - H_29(state, unused, out_9165541420774620727); +void car_H_29(double *state, double *unused, double *out_1431487206082371698) { + H_29(state, unused, out_1431487206082371698); } -void car_h_28(double *state, double *unused, double *out_2219679485258547244) { - h_28(state, unused, out_2219679485258547244); +void car_h_28(double *state, double *unused, double *out_2565647234669696274) { + h_28(state, unused, out_2565647234669696274); } -void car_H_28(double *state, double *unused, double *out_4083142403705090153) { - H_28(state, unused, out_4083142403705090153); +void car_H_28(double *state, double *unused, double *out_6513886223151902272) { + H_28(state, unused, out_6513886223151902272); } -void car_h_31(double *state, double *unused, double *out_8123605363405147013) { - h_31(state, unused, out_8123605363405147013); +void car_h_31(double *state, double *unused, double *out_7751082483008271581) { + h_31(state, unused, out_7751082483008271581); } -void car_H_31(double *state, double *unused, double *out_1769265696845572216) { - H_31(state, unused, out_1769265696845572216); +void car_H_31(double *state, double *unused, double *out_2616623741607804744) { + H_31(state, unused, out_2616623741607804744); } 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 6120c64f9..16b005f9f 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_1393219424364542669); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121); -void car_H_mod_fun(double *state, double *out_542719001883324995); -void car_f_fun(double *state, double dt, double *out_9203753821438188332); -void car_F_fun(double *state, double dt, double *out_1821220582526959893); -void car_h_25(double *state, double *unused, double *out_7848411301120641124); -void car_H_25(double *state, double *unused, double *out_6136977117952979916); -void car_h_24(double *state, double *unused, double *out_8292657587405145092); -void car_H_24(double *state, double *unused, double *out_3964327518947480350); -void car_h_30(double *state, double *unused, double *out_1692964105279980995); -void car_H_30(double *state, double *unused, double *out_8655310076460228543); -void car_h_26(double *state, double *unused, double *out_6694637372940826640); -void car_H_26(double *state, double *unused, double *out_2395473799078923692); -void car_h_27(double *state, double *unused, double *out_3658606002300167844); -void car_H_27(double *state, double *unused, double *out_6480546764659803632); -void car_h_29(double *state, double *unused, double *out_3383411940015661955); -void car_H_29(double *state, double *unused, double *out_9165541420774620727); -void car_h_28(double *state, double *unused, double *out_2219679485258547244); -void car_H_28(double *state, double *unused, double *out_4083142403705090153); -void car_h_31(double *state, double *unused, double *out_8123605363405147013); -void car_H_31(double *state, double *unused, double *out_1769265696845572216); +void car_err_fun(double *nom_x, double *delta_x, double *out_1054824998219177113); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899); +void car_H_mod_fun(double *state, double *out_9083000739620874267); +void car_f_fun(double *state, double dt, double *out_2939712332855985662); +void car_F_fun(double *state, double dt, double *out_9197210553723469698); +void car_h_25(double *state, double *unused, double *out_7502443551709492094); +void car_H_25(double *state, double *unused, double *out_2585977779730844316); +void car_h_24(double *state, double *unused, double *out_4099652252284200208); +void car_H_24(double *state, double *unused, double *out_2115520297687505592); +void car_h_30(double *state, double *unused, double *out_7659630220060621239); +void car_H_30(double *state, double *unused, double *out_2456638832587604246); +void car_h_26(double *state, double *unused, double *out_2198951171844088969); +void car_H_26(double *state, double *unused, double *out_1155525539143211908); +void car_h_27(double *state, double *unused, double *out_5981920524318766290); +void car_H_27(double *state, double *unused, double *out_281875520787179335); +void car_h_29(double *state, double *unused, double *out_1781344732501906151); +void car_H_29(double *state, double *unused, double *out_1431487206082371698); +void car_h_28(double *state, double *unused, double *out_2565647234669696274); +void car_H_28(double *state, double *unused, double *out_6513886223151902272); +void car_h_31(double *state, double *unused, double *out_7751082483008271581); +void car_H_31(double *state, double *unused, double *out_2616623741607804744); 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 60c0e80a2..86d44bf75 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_4967863734907407968) { - out_4967863734907407968[0] = delta_x[0] + nom_x[0]; - out_4967863734907407968[1] = delta_x[1] + nom_x[1]; - out_4967863734907407968[2] = delta_x[2] + nom_x[2]; - out_4967863734907407968[3] = delta_x[3] + nom_x[3]; - out_4967863734907407968[4] = delta_x[4] + nom_x[4]; - out_4967863734907407968[5] = delta_x[5] + nom_x[5]; - out_4967863734907407968[6] = delta_x[6] + nom_x[6]; - out_4967863734907407968[7] = delta_x[7] + nom_x[7]; - out_4967863734907407968[8] = delta_x[8] + nom_x[8]; - out_4967863734907407968[9] = delta_x[9] + nom_x[9]; - out_4967863734907407968[10] = delta_x[10] + nom_x[10]; - out_4967863734907407968[11] = delta_x[11] + nom_x[11]; - out_4967863734907407968[12] = delta_x[12] + nom_x[12]; - out_4967863734907407968[13] = delta_x[13] + nom_x[13]; - out_4967863734907407968[14] = delta_x[14] + nom_x[14]; - out_4967863734907407968[15] = delta_x[15] + nom_x[15]; - out_4967863734907407968[16] = delta_x[16] + nom_x[16]; - out_4967863734907407968[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3926294361318359623) { + out_3926294361318359623[0] = delta_x[0] + nom_x[0]; + out_3926294361318359623[1] = delta_x[1] + nom_x[1]; + out_3926294361318359623[2] = delta_x[2] + nom_x[2]; + out_3926294361318359623[3] = delta_x[3] + nom_x[3]; + out_3926294361318359623[4] = delta_x[4] + nom_x[4]; + out_3926294361318359623[5] = delta_x[5] + nom_x[5]; + out_3926294361318359623[6] = delta_x[6] + nom_x[6]; + out_3926294361318359623[7] = delta_x[7] + nom_x[7]; + out_3926294361318359623[8] = delta_x[8] + nom_x[8]; + out_3926294361318359623[9] = delta_x[9] + nom_x[9]; + out_3926294361318359623[10] = delta_x[10] + nom_x[10]; + out_3926294361318359623[11] = delta_x[11] + nom_x[11]; + out_3926294361318359623[12] = delta_x[12] + nom_x[12]; + out_3926294361318359623[13] = delta_x[13] + nom_x[13]; + out_3926294361318359623[14] = delta_x[14] + nom_x[14]; + out_3926294361318359623[15] = delta_x[15] + nom_x[15]; + out_3926294361318359623[16] = delta_x[16] + nom_x[16]; + out_3926294361318359623[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_554301816764323460) { - out_554301816764323460[0] = -nom_x[0] + true_x[0]; - out_554301816764323460[1] = -nom_x[1] + true_x[1]; - out_554301816764323460[2] = -nom_x[2] + true_x[2]; - out_554301816764323460[3] = -nom_x[3] + true_x[3]; - out_554301816764323460[4] = -nom_x[4] + true_x[4]; - out_554301816764323460[5] = -nom_x[5] + true_x[5]; - out_554301816764323460[6] = -nom_x[6] + true_x[6]; - out_554301816764323460[7] = -nom_x[7] + true_x[7]; - out_554301816764323460[8] = -nom_x[8] + true_x[8]; - out_554301816764323460[9] = -nom_x[9] + true_x[9]; - out_554301816764323460[10] = -nom_x[10] + true_x[10]; - out_554301816764323460[11] = -nom_x[11] + true_x[11]; - out_554301816764323460[12] = -nom_x[12] + true_x[12]; - out_554301816764323460[13] = -nom_x[13] + true_x[13]; - out_554301816764323460[14] = -nom_x[14] + true_x[14]; - out_554301816764323460[15] = -nom_x[15] + true_x[15]; - out_554301816764323460[16] = -nom_x[16] + true_x[16]; - out_554301816764323460[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5231104082209692226) { + out_5231104082209692226[0] = -nom_x[0] + true_x[0]; + out_5231104082209692226[1] = -nom_x[1] + true_x[1]; + out_5231104082209692226[2] = -nom_x[2] + true_x[2]; + out_5231104082209692226[3] = -nom_x[3] + true_x[3]; + out_5231104082209692226[4] = -nom_x[4] + true_x[4]; + out_5231104082209692226[5] = -nom_x[5] + true_x[5]; + out_5231104082209692226[6] = -nom_x[6] + true_x[6]; + out_5231104082209692226[7] = -nom_x[7] + true_x[7]; + out_5231104082209692226[8] = -nom_x[8] + true_x[8]; + out_5231104082209692226[9] = -nom_x[9] + true_x[9]; + out_5231104082209692226[10] = -nom_x[10] + true_x[10]; + out_5231104082209692226[11] = -nom_x[11] + true_x[11]; + out_5231104082209692226[12] = -nom_x[12] + true_x[12]; + out_5231104082209692226[13] = -nom_x[13] + true_x[13]; + out_5231104082209692226[14] = -nom_x[14] + true_x[14]; + out_5231104082209692226[15] = -nom_x[15] + true_x[15]; + out_5231104082209692226[16] = -nom_x[16] + true_x[16]; + out_5231104082209692226[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3047027985808074405) { - out_3047027985808074405[0] = 1.0; - out_3047027985808074405[1] = 0.0; - out_3047027985808074405[2] = 0.0; - out_3047027985808074405[3] = 0.0; - out_3047027985808074405[4] = 0.0; - out_3047027985808074405[5] = 0.0; - out_3047027985808074405[6] = 0.0; - out_3047027985808074405[7] = 0.0; - out_3047027985808074405[8] = 0.0; - out_3047027985808074405[9] = 0.0; - out_3047027985808074405[10] = 0.0; - out_3047027985808074405[11] = 0.0; - out_3047027985808074405[12] = 0.0; - out_3047027985808074405[13] = 0.0; - out_3047027985808074405[14] = 0.0; - out_3047027985808074405[15] = 0.0; - out_3047027985808074405[16] = 0.0; - out_3047027985808074405[17] = 0.0; - out_3047027985808074405[18] = 0.0; - out_3047027985808074405[19] = 1.0; - out_3047027985808074405[20] = 0.0; - out_3047027985808074405[21] = 0.0; - out_3047027985808074405[22] = 0.0; - out_3047027985808074405[23] = 0.0; - out_3047027985808074405[24] = 0.0; - out_3047027985808074405[25] = 0.0; - out_3047027985808074405[26] = 0.0; - out_3047027985808074405[27] = 0.0; - out_3047027985808074405[28] = 0.0; - out_3047027985808074405[29] = 0.0; - out_3047027985808074405[30] = 0.0; - out_3047027985808074405[31] = 0.0; - out_3047027985808074405[32] = 0.0; - out_3047027985808074405[33] = 0.0; - out_3047027985808074405[34] = 0.0; - out_3047027985808074405[35] = 0.0; - out_3047027985808074405[36] = 0.0; - out_3047027985808074405[37] = 0.0; - out_3047027985808074405[38] = 1.0; - out_3047027985808074405[39] = 0.0; - out_3047027985808074405[40] = 0.0; - out_3047027985808074405[41] = 0.0; - out_3047027985808074405[42] = 0.0; - out_3047027985808074405[43] = 0.0; - out_3047027985808074405[44] = 0.0; - out_3047027985808074405[45] = 0.0; - out_3047027985808074405[46] = 0.0; - out_3047027985808074405[47] = 0.0; - out_3047027985808074405[48] = 0.0; - out_3047027985808074405[49] = 0.0; - out_3047027985808074405[50] = 0.0; - out_3047027985808074405[51] = 0.0; - out_3047027985808074405[52] = 0.0; - out_3047027985808074405[53] = 0.0; - out_3047027985808074405[54] = 0.0; - out_3047027985808074405[55] = 0.0; - out_3047027985808074405[56] = 0.0; - out_3047027985808074405[57] = 1.0; - out_3047027985808074405[58] = 0.0; - out_3047027985808074405[59] = 0.0; - out_3047027985808074405[60] = 0.0; - out_3047027985808074405[61] = 0.0; - out_3047027985808074405[62] = 0.0; - out_3047027985808074405[63] = 0.0; - out_3047027985808074405[64] = 0.0; - out_3047027985808074405[65] = 0.0; - out_3047027985808074405[66] = 0.0; - out_3047027985808074405[67] = 0.0; - out_3047027985808074405[68] = 0.0; - out_3047027985808074405[69] = 0.0; - out_3047027985808074405[70] = 0.0; - out_3047027985808074405[71] = 0.0; - out_3047027985808074405[72] = 0.0; - out_3047027985808074405[73] = 0.0; - out_3047027985808074405[74] = 0.0; - out_3047027985808074405[75] = 0.0; - out_3047027985808074405[76] = 1.0; - out_3047027985808074405[77] = 0.0; - out_3047027985808074405[78] = 0.0; - out_3047027985808074405[79] = 0.0; - out_3047027985808074405[80] = 0.0; - out_3047027985808074405[81] = 0.0; - out_3047027985808074405[82] = 0.0; - out_3047027985808074405[83] = 0.0; - out_3047027985808074405[84] = 0.0; - out_3047027985808074405[85] = 0.0; - out_3047027985808074405[86] = 0.0; - out_3047027985808074405[87] = 0.0; - out_3047027985808074405[88] = 0.0; - out_3047027985808074405[89] = 0.0; - out_3047027985808074405[90] = 0.0; - out_3047027985808074405[91] = 0.0; - out_3047027985808074405[92] = 0.0; - out_3047027985808074405[93] = 0.0; - out_3047027985808074405[94] = 0.0; - out_3047027985808074405[95] = 1.0; - out_3047027985808074405[96] = 0.0; - out_3047027985808074405[97] = 0.0; - out_3047027985808074405[98] = 0.0; - out_3047027985808074405[99] = 0.0; - out_3047027985808074405[100] = 0.0; - out_3047027985808074405[101] = 0.0; - out_3047027985808074405[102] = 0.0; - out_3047027985808074405[103] = 0.0; - out_3047027985808074405[104] = 0.0; - out_3047027985808074405[105] = 0.0; - out_3047027985808074405[106] = 0.0; - out_3047027985808074405[107] = 0.0; - out_3047027985808074405[108] = 0.0; - out_3047027985808074405[109] = 0.0; - out_3047027985808074405[110] = 0.0; - out_3047027985808074405[111] = 0.0; - out_3047027985808074405[112] = 0.0; - out_3047027985808074405[113] = 0.0; - out_3047027985808074405[114] = 1.0; - out_3047027985808074405[115] = 0.0; - out_3047027985808074405[116] = 0.0; - out_3047027985808074405[117] = 0.0; - out_3047027985808074405[118] = 0.0; - out_3047027985808074405[119] = 0.0; - out_3047027985808074405[120] = 0.0; - out_3047027985808074405[121] = 0.0; - out_3047027985808074405[122] = 0.0; - out_3047027985808074405[123] = 0.0; - out_3047027985808074405[124] = 0.0; - out_3047027985808074405[125] = 0.0; - out_3047027985808074405[126] = 0.0; - out_3047027985808074405[127] = 0.0; - out_3047027985808074405[128] = 0.0; - out_3047027985808074405[129] = 0.0; - out_3047027985808074405[130] = 0.0; - out_3047027985808074405[131] = 0.0; - out_3047027985808074405[132] = 0.0; - out_3047027985808074405[133] = 1.0; - out_3047027985808074405[134] = 0.0; - out_3047027985808074405[135] = 0.0; - out_3047027985808074405[136] = 0.0; - out_3047027985808074405[137] = 0.0; - out_3047027985808074405[138] = 0.0; - out_3047027985808074405[139] = 0.0; - out_3047027985808074405[140] = 0.0; - out_3047027985808074405[141] = 0.0; - out_3047027985808074405[142] = 0.0; - out_3047027985808074405[143] = 0.0; - out_3047027985808074405[144] = 0.0; - out_3047027985808074405[145] = 0.0; - out_3047027985808074405[146] = 0.0; - out_3047027985808074405[147] = 0.0; - out_3047027985808074405[148] = 0.0; - out_3047027985808074405[149] = 0.0; - out_3047027985808074405[150] = 0.0; - out_3047027985808074405[151] = 0.0; - out_3047027985808074405[152] = 1.0; - out_3047027985808074405[153] = 0.0; - out_3047027985808074405[154] = 0.0; - out_3047027985808074405[155] = 0.0; - out_3047027985808074405[156] = 0.0; - out_3047027985808074405[157] = 0.0; - out_3047027985808074405[158] = 0.0; - out_3047027985808074405[159] = 0.0; - out_3047027985808074405[160] = 0.0; - out_3047027985808074405[161] = 0.0; - out_3047027985808074405[162] = 0.0; - out_3047027985808074405[163] = 0.0; - out_3047027985808074405[164] = 0.0; - out_3047027985808074405[165] = 0.0; - out_3047027985808074405[166] = 0.0; - out_3047027985808074405[167] = 0.0; - out_3047027985808074405[168] = 0.0; - out_3047027985808074405[169] = 0.0; - out_3047027985808074405[170] = 0.0; - out_3047027985808074405[171] = 1.0; - out_3047027985808074405[172] = 0.0; - out_3047027985808074405[173] = 0.0; - out_3047027985808074405[174] = 0.0; - out_3047027985808074405[175] = 0.0; - out_3047027985808074405[176] = 0.0; - out_3047027985808074405[177] = 0.0; - out_3047027985808074405[178] = 0.0; - out_3047027985808074405[179] = 0.0; - out_3047027985808074405[180] = 0.0; - out_3047027985808074405[181] = 0.0; - out_3047027985808074405[182] = 0.0; - out_3047027985808074405[183] = 0.0; - out_3047027985808074405[184] = 0.0; - out_3047027985808074405[185] = 0.0; - out_3047027985808074405[186] = 0.0; - out_3047027985808074405[187] = 0.0; - out_3047027985808074405[188] = 0.0; - out_3047027985808074405[189] = 0.0; - out_3047027985808074405[190] = 1.0; - out_3047027985808074405[191] = 0.0; - out_3047027985808074405[192] = 0.0; - out_3047027985808074405[193] = 0.0; - out_3047027985808074405[194] = 0.0; - out_3047027985808074405[195] = 0.0; - out_3047027985808074405[196] = 0.0; - out_3047027985808074405[197] = 0.0; - out_3047027985808074405[198] = 0.0; - out_3047027985808074405[199] = 0.0; - out_3047027985808074405[200] = 0.0; - out_3047027985808074405[201] = 0.0; - out_3047027985808074405[202] = 0.0; - out_3047027985808074405[203] = 0.0; - out_3047027985808074405[204] = 0.0; - out_3047027985808074405[205] = 0.0; - out_3047027985808074405[206] = 0.0; - out_3047027985808074405[207] = 0.0; - out_3047027985808074405[208] = 0.0; - out_3047027985808074405[209] = 1.0; - out_3047027985808074405[210] = 0.0; - out_3047027985808074405[211] = 0.0; - out_3047027985808074405[212] = 0.0; - out_3047027985808074405[213] = 0.0; - out_3047027985808074405[214] = 0.0; - out_3047027985808074405[215] = 0.0; - out_3047027985808074405[216] = 0.0; - out_3047027985808074405[217] = 0.0; - out_3047027985808074405[218] = 0.0; - out_3047027985808074405[219] = 0.0; - out_3047027985808074405[220] = 0.0; - out_3047027985808074405[221] = 0.0; - out_3047027985808074405[222] = 0.0; - out_3047027985808074405[223] = 0.0; - out_3047027985808074405[224] = 0.0; - out_3047027985808074405[225] = 0.0; - out_3047027985808074405[226] = 0.0; - out_3047027985808074405[227] = 0.0; - out_3047027985808074405[228] = 1.0; - out_3047027985808074405[229] = 0.0; - out_3047027985808074405[230] = 0.0; - out_3047027985808074405[231] = 0.0; - out_3047027985808074405[232] = 0.0; - out_3047027985808074405[233] = 0.0; - out_3047027985808074405[234] = 0.0; - out_3047027985808074405[235] = 0.0; - out_3047027985808074405[236] = 0.0; - out_3047027985808074405[237] = 0.0; - out_3047027985808074405[238] = 0.0; - out_3047027985808074405[239] = 0.0; - out_3047027985808074405[240] = 0.0; - out_3047027985808074405[241] = 0.0; - out_3047027985808074405[242] = 0.0; - out_3047027985808074405[243] = 0.0; - out_3047027985808074405[244] = 0.0; - out_3047027985808074405[245] = 0.0; - out_3047027985808074405[246] = 0.0; - out_3047027985808074405[247] = 1.0; - out_3047027985808074405[248] = 0.0; - out_3047027985808074405[249] = 0.0; - out_3047027985808074405[250] = 0.0; - out_3047027985808074405[251] = 0.0; - out_3047027985808074405[252] = 0.0; - out_3047027985808074405[253] = 0.0; - out_3047027985808074405[254] = 0.0; - out_3047027985808074405[255] = 0.0; - out_3047027985808074405[256] = 0.0; - out_3047027985808074405[257] = 0.0; - out_3047027985808074405[258] = 0.0; - out_3047027985808074405[259] = 0.0; - out_3047027985808074405[260] = 0.0; - out_3047027985808074405[261] = 0.0; - out_3047027985808074405[262] = 0.0; - out_3047027985808074405[263] = 0.0; - out_3047027985808074405[264] = 0.0; - out_3047027985808074405[265] = 0.0; - out_3047027985808074405[266] = 1.0; - out_3047027985808074405[267] = 0.0; - out_3047027985808074405[268] = 0.0; - out_3047027985808074405[269] = 0.0; - out_3047027985808074405[270] = 0.0; - out_3047027985808074405[271] = 0.0; - out_3047027985808074405[272] = 0.0; - out_3047027985808074405[273] = 0.0; - out_3047027985808074405[274] = 0.0; - out_3047027985808074405[275] = 0.0; - out_3047027985808074405[276] = 0.0; - out_3047027985808074405[277] = 0.0; - out_3047027985808074405[278] = 0.0; - out_3047027985808074405[279] = 0.0; - out_3047027985808074405[280] = 0.0; - out_3047027985808074405[281] = 0.0; - out_3047027985808074405[282] = 0.0; - out_3047027985808074405[283] = 0.0; - out_3047027985808074405[284] = 0.0; - out_3047027985808074405[285] = 1.0; - out_3047027985808074405[286] = 0.0; - out_3047027985808074405[287] = 0.0; - out_3047027985808074405[288] = 0.0; - out_3047027985808074405[289] = 0.0; - out_3047027985808074405[290] = 0.0; - out_3047027985808074405[291] = 0.0; - out_3047027985808074405[292] = 0.0; - out_3047027985808074405[293] = 0.0; - out_3047027985808074405[294] = 0.0; - out_3047027985808074405[295] = 0.0; - out_3047027985808074405[296] = 0.0; - out_3047027985808074405[297] = 0.0; - out_3047027985808074405[298] = 0.0; - out_3047027985808074405[299] = 0.0; - out_3047027985808074405[300] = 0.0; - out_3047027985808074405[301] = 0.0; - out_3047027985808074405[302] = 0.0; - out_3047027985808074405[303] = 0.0; - out_3047027985808074405[304] = 1.0; - out_3047027985808074405[305] = 0.0; - out_3047027985808074405[306] = 0.0; - out_3047027985808074405[307] = 0.0; - out_3047027985808074405[308] = 0.0; - out_3047027985808074405[309] = 0.0; - out_3047027985808074405[310] = 0.0; - out_3047027985808074405[311] = 0.0; - out_3047027985808074405[312] = 0.0; - out_3047027985808074405[313] = 0.0; - out_3047027985808074405[314] = 0.0; - out_3047027985808074405[315] = 0.0; - out_3047027985808074405[316] = 0.0; - out_3047027985808074405[317] = 0.0; - out_3047027985808074405[318] = 0.0; - out_3047027985808074405[319] = 0.0; - out_3047027985808074405[320] = 0.0; - out_3047027985808074405[321] = 0.0; - out_3047027985808074405[322] = 0.0; - out_3047027985808074405[323] = 1.0; +void H_mod_fun(double *state, double *out_5646756432622182646) { + out_5646756432622182646[0] = 1.0; + out_5646756432622182646[1] = 0.0; + out_5646756432622182646[2] = 0.0; + out_5646756432622182646[3] = 0.0; + out_5646756432622182646[4] = 0.0; + out_5646756432622182646[5] = 0.0; + out_5646756432622182646[6] = 0.0; + out_5646756432622182646[7] = 0.0; + out_5646756432622182646[8] = 0.0; + out_5646756432622182646[9] = 0.0; + out_5646756432622182646[10] = 0.0; + out_5646756432622182646[11] = 0.0; + out_5646756432622182646[12] = 0.0; + out_5646756432622182646[13] = 0.0; + out_5646756432622182646[14] = 0.0; + out_5646756432622182646[15] = 0.0; + out_5646756432622182646[16] = 0.0; + out_5646756432622182646[17] = 0.0; + out_5646756432622182646[18] = 0.0; + out_5646756432622182646[19] = 1.0; + out_5646756432622182646[20] = 0.0; + out_5646756432622182646[21] = 0.0; + out_5646756432622182646[22] = 0.0; + out_5646756432622182646[23] = 0.0; + out_5646756432622182646[24] = 0.0; + out_5646756432622182646[25] = 0.0; + out_5646756432622182646[26] = 0.0; + out_5646756432622182646[27] = 0.0; + out_5646756432622182646[28] = 0.0; + out_5646756432622182646[29] = 0.0; + out_5646756432622182646[30] = 0.0; + out_5646756432622182646[31] = 0.0; + out_5646756432622182646[32] = 0.0; + out_5646756432622182646[33] = 0.0; + out_5646756432622182646[34] = 0.0; + out_5646756432622182646[35] = 0.0; + out_5646756432622182646[36] = 0.0; + out_5646756432622182646[37] = 0.0; + out_5646756432622182646[38] = 1.0; + out_5646756432622182646[39] = 0.0; + out_5646756432622182646[40] = 0.0; + out_5646756432622182646[41] = 0.0; + out_5646756432622182646[42] = 0.0; + out_5646756432622182646[43] = 0.0; + out_5646756432622182646[44] = 0.0; + out_5646756432622182646[45] = 0.0; + out_5646756432622182646[46] = 0.0; + out_5646756432622182646[47] = 0.0; + out_5646756432622182646[48] = 0.0; + out_5646756432622182646[49] = 0.0; + out_5646756432622182646[50] = 0.0; + out_5646756432622182646[51] = 0.0; + out_5646756432622182646[52] = 0.0; + out_5646756432622182646[53] = 0.0; + out_5646756432622182646[54] = 0.0; + out_5646756432622182646[55] = 0.0; + out_5646756432622182646[56] = 0.0; + out_5646756432622182646[57] = 1.0; + out_5646756432622182646[58] = 0.0; + out_5646756432622182646[59] = 0.0; + out_5646756432622182646[60] = 0.0; + out_5646756432622182646[61] = 0.0; + out_5646756432622182646[62] = 0.0; + out_5646756432622182646[63] = 0.0; + out_5646756432622182646[64] = 0.0; + out_5646756432622182646[65] = 0.0; + out_5646756432622182646[66] = 0.0; + out_5646756432622182646[67] = 0.0; + out_5646756432622182646[68] = 0.0; + out_5646756432622182646[69] = 0.0; + out_5646756432622182646[70] = 0.0; + out_5646756432622182646[71] = 0.0; + out_5646756432622182646[72] = 0.0; + out_5646756432622182646[73] = 0.0; + out_5646756432622182646[74] = 0.0; + out_5646756432622182646[75] = 0.0; + out_5646756432622182646[76] = 1.0; + out_5646756432622182646[77] = 0.0; + out_5646756432622182646[78] = 0.0; + out_5646756432622182646[79] = 0.0; + out_5646756432622182646[80] = 0.0; + out_5646756432622182646[81] = 0.0; + out_5646756432622182646[82] = 0.0; + out_5646756432622182646[83] = 0.0; + out_5646756432622182646[84] = 0.0; + out_5646756432622182646[85] = 0.0; + out_5646756432622182646[86] = 0.0; + out_5646756432622182646[87] = 0.0; + out_5646756432622182646[88] = 0.0; + out_5646756432622182646[89] = 0.0; + out_5646756432622182646[90] = 0.0; + out_5646756432622182646[91] = 0.0; + out_5646756432622182646[92] = 0.0; + out_5646756432622182646[93] = 0.0; + out_5646756432622182646[94] = 0.0; + out_5646756432622182646[95] = 1.0; + out_5646756432622182646[96] = 0.0; + out_5646756432622182646[97] = 0.0; + out_5646756432622182646[98] = 0.0; + out_5646756432622182646[99] = 0.0; + out_5646756432622182646[100] = 0.0; + out_5646756432622182646[101] = 0.0; + out_5646756432622182646[102] = 0.0; + out_5646756432622182646[103] = 0.0; + out_5646756432622182646[104] = 0.0; + out_5646756432622182646[105] = 0.0; + out_5646756432622182646[106] = 0.0; + out_5646756432622182646[107] = 0.0; + out_5646756432622182646[108] = 0.0; + out_5646756432622182646[109] = 0.0; + out_5646756432622182646[110] = 0.0; + out_5646756432622182646[111] = 0.0; + out_5646756432622182646[112] = 0.0; + out_5646756432622182646[113] = 0.0; + out_5646756432622182646[114] = 1.0; + out_5646756432622182646[115] = 0.0; + out_5646756432622182646[116] = 0.0; + out_5646756432622182646[117] = 0.0; + out_5646756432622182646[118] = 0.0; + out_5646756432622182646[119] = 0.0; + out_5646756432622182646[120] = 0.0; + out_5646756432622182646[121] = 0.0; + out_5646756432622182646[122] = 0.0; + out_5646756432622182646[123] = 0.0; + out_5646756432622182646[124] = 0.0; + out_5646756432622182646[125] = 0.0; + out_5646756432622182646[126] = 0.0; + out_5646756432622182646[127] = 0.0; + out_5646756432622182646[128] = 0.0; + out_5646756432622182646[129] = 0.0; + out_5646756432622182646[130] = 0.0; + out_5646756432622182646[131] = 0.0; + out_5646756432622182646[132] = 0.0; + out_5646756432622182646[133] = 1.0; + out_5646756432622182646[134] = 0.0; + out_5646756432622182646[135] = 0.0; + out_5646756432622182646[136] = 0.0; + out_5646756432622182646[137] = 0.0; + out_5646756432622182646[138] = 0.0; + out_5646756432622182646[139] = 0.0; + out_5646756432622182646[140] = 0.0; + out_5646756432622182646[141] = 0.0; + out_5646756432622182646[142] = 0.0; + out_5646756432622182646[143] = 0.0; + out_5646756432622182646[144] = 0.0; + out_5646756432622182646[145] = 0.0; + out_5646756432622182646[146] = 0.0; + out_5646756432622182646[147] = 0.0; + out_5646756432622182646[148] = 0.0; + out_5646756432622182646[149] = 0.0; + out_5646756432622182646[150] = 0.0; + out_5646756432622182646[151] = 0.0; + out_5646756432622182646[152] = 1.0; + out_5646756432622182646[153] = 0.0; + out_5646756432622182646[154] = 0.0; + out_5646756432622182646[155] = 0.0; + out_5646756432622182646[156] = 0.0; + out_5646756432622182646[157] = 0.0; + out_5646756432622182646[158] = 0.0; + out_5646756432622182646[159] = 0.0; + out_5646756432622182646[160] = 0.0; + out_5646756432622182646[161] = 0.0; + out_5646756432622182646[162] = 0.0; + out_5646756432622182646[163] = 0.0; + out_5646756432622182646[164] = 0.0; + out_5646756432622182646[165] = 0.0; + out_5646756432622182646[166] = 0.0; + out_5646756432622182646[167] = 0.0; + out_5646756432622182646[168] = 0.0; + out_5646756432622182646[169] = 0.0; + out_5646756432622182646[170] = 0.0; + out_5646756432622182646[171] = 1.0; + out_5646756432622182646[172] = 0.0; + out_5646756432622182646[173] = 0.0; + out_5646756432622182646[174] = 0.0; + out_5646756432622182646[175] = 0.0; + out_5646756432622182646[176] = 0.0; + out_5646756432622182646[177] = 0.0; + out_5646756432622182646[178] = 0.0; + out_5646756432622182646[179] = 0.0; + out_5646756432622182646[180] = 0.0; + out_5646756432622182646[181] = 0.0; + out_5646756432622182646[182] = 0.0; + out_5646756432622182646[183] = 0.0; + out_5646756432622182646[184] = 0.0; + out_5646756432622182646[185] = 0.0; + out_5646756432622182646[186] = 0.0; + out_5646756432622182646[187] = 0.0; + out_5646756432622182646[188] = 0.0; + out_5646756432622182646[189] = 0.0; + out_5646756432622182646[190] = 1.0; + out_5646756432622182646[191] = 0.0; + out_5646756432622182646[192] = 0.0; + out_5646756432622182646[193] = 0.0; + out_5646756432622182646[194] = 0.0; + out_5646756432622182646[195] = 0.0; + out_5646756432622182646[196] = 0.0; + out_5646756432622182646[197] = 0.0; + out_5646756432622182646[198] = 0.0; + out_5646756432622182646[199] = 0.0; + out_5646756432622182646[200] = 0.0; + out_5646756432622182646[201] = 0.0; + out_5646756432622182646[202] = 0.0; + out_5646756432622182646[203] = 0.0; + out_5646756432622182646[204] = 0.0; + out_5646756432622182646[205] = 0.0; + out_5646756432622182646[206] = 0.0; + out_5646756432622182646[207] = 0.0; + out_5646756432622182646[208] = 0.0; + out_5646756432622182646[209] = 1.0; + out_5646756432622182646[210] = 0.0; + out_5646756432622182646[211] = 0.0; + out_5646756432622182646[212] = 0.0; + out_5646756432622182646[213] = 0.0; + out_5646756432622182646[214] = 0.0; + out_5646756432622182646[215] = 0.0; + out_5646756432622182646[216] = 0.0; + out_5646756432622182646[217] = 0.0; + out_5646756432622182646[218] = 0.0; + out_5646756432622182646[219] = 0.0; + out_5646756432622182646[220] = 0.0; + out_5646756432622182646[221] = 0.0; + out_5646756432622182646[222] = 0.0; + out_5646756432622182646[223] = 0.0; + out_5646756432622182646[224] = 0.0; + out_5646756432622182646[225] = 0.0; + out_5646756432622182646[226] = 0.0; + out_5646756432622182646[227] = 0.0; + out_5646756432622182646[228] = 1.0; + out_5646756432622182646[229] = 0.0; + out_5646756432622182646[230] = 0.0; + out_5646756432622182646[231] = 0.0; + out_5646756432622182646[232] = 0.0; + out_5646756432622182646[233] = 0.0; + out_5646756432622182646[234] = 0.0; + out_5646756432622182646[235] = 0.0; + out_5646756432622182646[236] = 0.0; + out_5646756432622182646[237] = 0.0; + out_5646756432622182646[238] = 0.0; + out_5646756432622182646[239] = 0.0; + out_5646756432622182646[240] = 0.0; + out_5646756432622182646[241] = 0.0; + out_5646756432622182646[242] = 0.0; + out_5646756432622182646[243] = 0.0; + out_5646756432622182646[244] = 0.0; + out_5646756432622182646[245] = 0.0; + out_5646756432622182646[246] = 0.0; + out_5646756432622182646[247] = 1.0; + out_5646756432622182646[248] = 0.0; + out_5646756432622182646[249] = 0.0; + out_5646756432622182646[250] = 0.0; + out_5646756432622182646[251] = 0.0; + out_5646756432622182646[252] = 0.0; + out_5646756432622182646[253] = 0.0; + out_5646756432622182646[254] = 0.0; + out_5646756432622182646[255] = 0.0; + out_5646756432622182646[256] = 0.0; + out_5646756432622182646[257] = 0.0; + out_5646756432622182646[258] = 0.0; + out_5646756432622182646[259] = 0.0; + out_5646756432622182646[260] = 0.0; + out_5646756432622182646[261] = 0.0; + out_5646756432622182646[262] = 0.0; + out_5646756432622182646[263] = 0.0; + out_5646756432622182646[264] = 0.0; + out_5646756432622182646[265] = 0.0; + out_5646756432622182646[266] = 1.0; + out_5646756432622182646[267] = 0.0; + out_5646756432622182646[268] = 0.0; + out_5646756432622182646[269] = 0.0; + out_5646756432622182646[270] = 0.0; + out_5646756432622182646[271] = 0.0; + out_5646756432622182646[272] = 0.0; + out_5646756432622182646[273] = 0.0; + out_5646756432622182646[274] = 0.0; + out_5646756432622182646[275] = 0.0; + out_5646756432622182646[276] = 0.0; + out_5646756432622182646[277] = 0.0; + out_5646756432622182646[278] = 0.0; + out_5646756432622182646[279] = 0.0; + out_5646756432622182646[280] = 0.0; + out_5646756432622182646[281] = 0.0; + out_5646756432622182646[282] = 0.0; + out_5646756432622182646[283] = 0.0; + out_5646756432622182646[284] = 0.0; + out_5646756432622182646[285] = 1.0; + out_5646756432622182646[286] = 0.0; + out_5646756432622182646[287] = 0.0; + out_5646756432622182646[288] = 0.0; + out_5646756432622182646[289] = 0.0; + out_5646756432622182646[290] = 0.0; + out_5646756432622182646[291] = 0.0; + out_5646756432622182646[292] = 0.0; + out_5646756432622182646[293] = 0.0; + out_5646756432622182646[294] = 0.0; + out_5646756432622182646[295] = 0.0; + out_5646756432622182646[296] = 0.0; + out_5646756432622182646[297] = 0.0; + out_5646756432622182646[298] = 0.0; + out_5646756432622182646[299] = 0.0; + out_5646756432622182646[300] = 0.0; + out_5646756432622182646[301] = 0.0; + out_5646756432622182646[302] = 0.0; + out_5646756432622182646[303] = 0.0; + out_5646756432622182646[304] = 1.0; + out_5646756432622182646[305] = 0.0; + out_5646756432622182646[306] = 0.0; + out_5646756432622182646[307] = 0.0; + out_5646756432622182646[308] = 0.0; + out_5646756432622182646[309] = 0.0; + out_5646756432622182646[310] = 0.0; + out_5646756432622182646[311] = 0.0; + out_5646756432622182646[312] = 0.0; + out_5646756432622182646[313] = 0.0; + out_5646756432622182646[314] = 0.0; + out_5646756432622182646[315] = 0.0; + out_5646756432622182646[316] = 0.0; + out_5646756432622182646[317] = 0.0; + out_5646756432622182646[318] = 0.0; + out_5646756432622182646[319] = 0.0; + out_5646756432622182646[320] = 0.0; + out_5646756432622182646[321] = 0.0; + out_5646756432622182646[322] = 0.0; + out_5646756432622182646[323] = 1.0; } -void f_fun(double *state, double dt, double *out_986492010673501731) { - out_986492010673501731[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_986492010673501731[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_986492010673501731[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_986492010673501731[3] = dt*state[12] + state[3]; - out_986492010673501731[4] = dt*state[13] + state[4]; - out_986492010673501731[5] = dt*state[14] + state[5]; - out_986492010673501731[6] = state[6]; - out_986492010673501731[7] = state[7]; - out_986492010673501731[8] = state[8]; - out_986492010673501731[9] = state[9]; - out_986492010673501731[10] = state[10]; - out_986492010673501731[11] = state[11]; - out_986492010673501731[12] = state[12]; - out_986492010673501731[13] = state[13]; - out_986492010673501731[14] = state[14]; - out_986492010673501731[15] = state[15]; - out_986492010673501731[16] = state[16]; - out_986492010673501731[17] = state[17]; +void f_fun(double *state, double dt, double *out_1137320570887410122) { + out_1137320570887410122[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_1137320570887410122[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_1137320570887410122[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_1137320570887410122[3] = dt*state[12] + state[3]; + out_1137320570887410122[4] = dt*state[13] + state[4]; + out_1137320570887410122[5] = dt*state[14] + state[5]; + out_1137320570887410122[6] = state[6]; + out_1137320570887410122[7] = state[7]; + out_1137320570887410122[8] = state[8]; + out_1137320570887410122[9] = state[9]; + out_1137320570887410122[10] = state[10]; + out_1137320570887410122[11] = state[11]; + out_1137320570887410122[12] = state[12]; + out_1137320570887410122[13] = state[13]; + out_1137320570887410122[14] = state[14]; + out_1137320570887410122[15] = state[15]; + out_1137320570887410122[16] = state[16]; + out_1137320570887410122[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4336070434649428420) { - out_4336070434649428420[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_4336070434649428420[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_4336070434649428420[2] = 0; - out_4336070434649428420[3] = 0; - out_4336070434649428420[4] = 0; - out_4336070434649428420[5] = 0; - out_4336070434649428420[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_4336070434649428420[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_4336070434649428420[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_4336070434649428420[9] = 0; - out_4336070434649428420[10] = 0; - out_4336070434649428420[11] = 0; - out_4336070434649428420[12] = 0; - out_4336070434649428420[13] = 0; - out_4336070434649428420[14] = 0; - out_4336070434649428420[15] = 0; - out_4336070434649428420[16] = 0; - out_4336070434649428420[17] = 0; - out_4336070434649428420[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_4336070434649428420[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_4336070434649428420[20] = 0; - out_4336070434649428420[21] = 0; - out_4336070434649428420[22] = 0; - out_4336070434649428420[23] = 0; - out_4336070434649428420[24] = 0; - out_4336070434649428420[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_4336070434649428420[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_4336070434649428420[27] = 0; - out_4336070434649428420[28] = 0; - out_4336070434649428420[29] = 0; - out_4336070434649428420[30] = 0; - out_4336070434649428420[31] = 0; - out_4336070434649428420[32] = 0; - out_4336070434649428420[33] = 0; - out_4336070434649428420[34] = 0; - out_4336070434649428420[35] = 0; - out_4336070434649428420[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_4336070434649428420[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_4336070434649428420[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_4336070434649428420[39] = 0; - out_4336070434649428420[40] = 0; - out_4336070434649428420[41] = 0; - out_4336070434649428420[42] = 0; - out_4336070434649428420[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_4336070434649428420[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_4336070434649428420[45] = 0; - out_4336070434649428420[46] = 0; - out_4336070434649428420[47] = 0; - out_4336070434649428420[48] = 0; - out_4336070434649428420[49] = 0; - out_4336070434649428420[50] = 0; - out_4336070434649428420[51] = 0; - out_4336070434649428420[52] = 0; - out_4336070434649428420[53] = 0; - out_4336070434649428420[54] = 0; - out_4336070434649428420[55] = 0; - out_4336070434649428420[56] = 0; - out_4336070434649428420[57] = 1; - out_4336070434649428420[58] = 0; - out_4336070434649428420[59] = 0; - out_4336070434649428420[60] = 0; - out_4336070434649428420[61] = 0; - out_4336070434649428420[62] = 0; - out_4336070434649428420[63] = 0; - out_4336070434649428420[64] = 0; - out_4336070434649428420[65] = 0; - out_4336070434649428420[66] = dt; - out_4336070434649428420[67] = 0; - out_4336070434649428420[68] = 0; - out_4336070434649428420[69] = 0; - out_4336070434649428420[70] = 0; - out_4336070434649428420[71] = 0; - out_4336070434649428420[72] = 0; - out_4336070434649428420[73] = 0; - out_4336070434649428420[74] = 0; - out_4336070434649428420[75] = 0; - out_4336070434649428420[76] = 1; - out_4336070434649428420[77] = 0; - out_4336070434649428420[78] = 0; - out_4336070434649428420[79] = 0; - out_4336070434649428420[80] = 0; - out_4336070434649428420[81] = 0; - out_4336070434649428420[82] = 0; - out_4336070434649428420[83] = 0; - out_4336070434649428420[84] = 0; - out_4336070434649428420[85] = dt; - out_4336070434649428420[86] = 0; - out_4336070434649428420[87] = 0; - out_4336070434649428420[88] = 0; - out_4336070434649428420[89] = 0; - out_4336070434649428420[90] = 0; - out_4336070434649428420[91] = 0; - out_4336070434649428420[92] = 0; - out_4336070434649428420[93] = 0; - out_4336070434649428420[94] = 0; - out_4336070434649428420[95] = 1; - out_4336070434649428420[96] = 0; - out_4336070434649428420[97] = 0; - out_4336070434649428420[98] = 0; - out_4336070434649428420[99] = 0; - out_4336070434649428420[100] = 0; - out_4336070434649428420[101] = 0; - out_4336070434649428420[102] = 0; - out_4336070434649428420[103] = 0; - out_4336070434649428420[104] = dt; - out_4336070434649428420[105] = 0; - out_4336070434649428420[106] = 0; - out_4336070434649428420[107] = 0; - out_4336070434649428420[108] = 0; - out_4336070434649428420[109] = 0; - out_4336070434649428420[110] = 0; - out_4336070434649428420[111] = 0; - out_4336070434649428420[112] = 0; - out_4336070434649428420[113] = 0; - out_4336070434649428420[114] = 1; - out_4336070434649428420[115] = 0; - out_4336070434649428420[116] = 0; - out_4336070434649428420[117] = 0; - out_4336070434649428420[118] = 0; - out_4336070434649428420[119] = 0; - out_4336070434649428420[120] = 0; - out_4336070434649428420[121] = 0; - out_4336070434649428420[122] = 0; - out_4336070434649428420[123] = 0; - out_4336070434649428420[124] = 0; - out_4336070434649428420[125] = 0; - out_4336070434649428420[126] = 0; - out_4336070434649428420[127] = 0; - out_4336070434649428420[128] = 0; - out_4336070434649428420[129] = 0; - out_4336070434649428420[130] = 0; - out_4336070434649428420[131] = 0; - out_4336070434649428420[132] = 0; - out_4336070434649428420[133] = 1; - out_4336070434649428420[134] = 0; - out_4336070434649428420[135] = 0; - out_4336070434649428420[136] = 0; - out_4336070434649428420[137] = 0; - out_4336070434649428420[138] = 0; - out_4336070434649428420[139] = 0; - out_4336070434649428420[140] = 0; - out_4336070434649428420[141] = 0; - out_4336070434649428420[142] = 0; - out_4336070434649428420[143] = 0; - out_4336070434649428420[144] = 0; - out_4336070434649428420[145] = 0; - out_4336070434649428420[146] = 0; - out_4336070434649428420[147] = 0; - out_4336070434649428420[148] = 0; - out_4336070434649428420[149] = 0; - out_4336070434649428420[150] = 0; - out_4336070434649428420[151] = 0; - out_4336070434649428420[152] = 1; - out_4336070434649428420[153] = 0; - out_4336070434649428420[154] = 0; - out_4336070434649428420[155] = 0; - out_4336070434649428420[156] = 0; - out_4336070434649428420[157] = 0; - out_4336070434649428420[158] = 0; - out_4336070434649428420[159] = 0; - out_4336070434649428420[160] = 0; - out_4336070434649428420[161] = 0; - out_4336070434649428420[162] = 0; - out_4336070434649428420[163] = 0; - out_4336070434649428420[164] = 0; - out_4336070434649428420[165] = 0; - out_4336070434649428420[166] = 0; - out_4336070434649428420[167] = 0; - out_4336070434649428420[168] = 0; - out_4336070434649428420[169] = 0; - out_4336070434649428420[170] = 0; - out_4336070434649428420[171] = 1; - out_4336070434649428420[172] = 0; - out_4336070434649428420[173] = 0; - out_4336070434649428420[174] = 0; - out_4336070434649428420[175] = 0; - out_4336070434649428420[176] = 0; - out_4336070434649428420[177] = 0; - out_4336070434649428420[178] = 0; - out_4336070434649428420[179] = 0; - out_4336070434649428420[180] = 0; - out_4336070434649428420[181] = 0; - out_4336070434649428420[182] = 0; - out_4336070434649428420[183] = 0; - out_4336070434649428420[184] = 0; - out_4336070434649428420[185] = 0; - out_4336070434649428420[186] = 0; - out_4336070434649428420[187] = 0; - out_4336070434649428420[188] = 0; - out_4336070434649428420[189] = 0; - out_4336070434649428420[190] = 1; - out_4336070434649428420[191] = 0; - out_4336070434649428420[192] = 0; - out_4336070434649428420[193] = 0; - out_4336070434649428420[194] = 0; - out_4336070434649428420[195] = 0; - out_4336070434649428420[196] = 0; - out_4336070434649428420[197] = 0; - out_4336070434649428420[198] = 0; - out_4336070434649428420[199] = 0; - out_4336070434649428420[200] = 0; - out_4336070434649428420[201] = 0; - out_4336070434649428420[202] = 0; - out_4336070434649428420[203] = 0; - out_4336070434649428420[204] = 0; - out_4336070434649428420[205] = 0; - out_4336070434649428420[206] = 0; - out_4336070434649428420[207] = 0; - out_4336070434649428420[208] = 0; - out_4336070434649428420[209] = 1; - out_4336070434649428420[210] = 0; - out_4336070434649428420[211] = 0; - out_4336070434649428420[212] = 0; - out_4336070434649428420[213] = 0; - out_4336070434649428420[214] = 0; - out_4336070434649428420[215] = 0; - out_4336070434649428420[216] = 0; - out_4336070434649428420[217] = 0; - out_4336070434649428420[218] = 0; - out_4336070434649428420[219] = 0; - out_4336070434649428420[220] = 0; - out_4336070434649428420[221] = 0; - out_4336070434649428420[222] = 0; - out_4336070434649428420[223] = 0; - out_4336070434649428420[224] = 0; - out_4336070434649428420[225] = 0; - out_4336070434649428420[226] = 0; - out_4336070434649428420[227] = 0; - out_4336070434649428420[228] = 1; - out_4336070434649428420[229] = 0; - out_4336070434649428420[230] = 0; - out_4336070434649428420[231] = 0; - out_4336070434649428420[232] = 0; - out_4336070434649428420[233] = 0; - out_4336070434649428420[234] = 0; - out_4336070434649428420[235] = 0; - out_4336070434649428420[236] = 0; - out_4336070434649428420[237] = 0; - out_4336070434649428420[238] = 0; - out_4336070434649428420[239] = 0; - out_4336070434649428420[240] = 0; - out_4336070434649428420[241] = 0; - out_4336070434649428420[242] = 0; - out_4336070434649428420[243] = 0; - out_4336070434649428420[244] = 0; - out_4336070434649428420[245] = 0; - out_4336070434649428420[246] = 0; - out_4336070434649428420[247] = 1; - out_4336070434649428420[248] = 0; - out_4336070434649428420[249] = 0; - out_4336070434649428420[250] = 0; - out_4336070434649428420[251] = 0; - out_4336070434649428420[252] = 0; - out_4336070434649428420[253] = 0; - out_4336070434649428420[254] = 0; - out_4336070434649428420[255] = 0; - out_4336070434649428420[256] = 0; - out_4336070434649428420[257] = 0; - out_4336070434649428420[258] = 0; - out_4336070434649428420[259] = 0; - out_4336070434649428420[260] = 0; - out_4336070434649428420[261] = 0; - out_4336070434649428420[262] = 0; - out_4336070434649428420[263] = 0; - out_4336070434649428420[264] = 0; - out_4336070434649428420[265] = 0; - out_4336070434649428420[266] = 1; - out_4336070434649428420[267] = 0; - out_4336070434649428420[268] = 0; - out_4336070434649428420[269] = 0; - out_4336070434649428420[270] = 0; - out_4336070434649428420[271] = 0; - out_4336070434649428420[272] = 0; - out_4336070434649428420[273] = 0; - out_4336070434649428420[274] = 0; - out_4336070434649428420[275] = 0; - out_4336070434649428420[276] = 0; - out_4336070434649428420[277] = 0; - out_4336070434649428420[278] = 0; - out_4336070434649428420[279] = 0; - out_4336070434649428420[280] = 0; - out_4336070434649428420[281] = 0; - out_4336070434649428420[282] = 0; - out_4336070434649428420[283] = 0; - out_4336070434649428420[284] = 0; - out_4336070434649428420[285] = 1; - out_4336070434649428420[286] = 0; - out_4336070434649428420[287] = 0; - out_4336070434649428420[288] = 0; - out_4336070434649428420[289] = 0; - out_4336070434649428420[290] = 0; - out_4336070434649428420[291] = 0; - out_4336070434649428420[292] = 0; - out_4336070434649428420[293] = 0; - out_4336070434649428420[294] = 0; - out_4336070434649428420[295] = 0; - out_4336070434649428420[296] = 0; - out_4336070434649428420[297] = 0; - out_4336070434649428420[298] = 0; - out_4336070434649428420[299] = 0; - out_4336070434649428420[300] = 0; - out_4336070434649428420[301] = 0; - out_4336070434649428420[302] = 0; - out_4336070434649428420[303] = 0; - out_4336070434649428420[304] = 1; - out_4336070434649428420[305] = 0; - out_4336070434649428420[306] = 0; - out_4336070434649428420[307] = 0; - out_4336070434649428420[308] = 0; - out_4336070434649428420[309] = 0; - out_4336070434649428420[310] = 0; - out_4336070434649428420[311] = 0; - out_4336070434649428420[312] = 0; - out_4336070434649428420[313] = 0; - out_4336070434649428420[314] = 0; - out_4336070434649428420[315] = 0; - out_4336070434649428420[316] = 0; - out_4336070434649428420[317] = 0; - out_4336070434649428420[318] = 0; - out_4336070434649428420[319] = 0; - out_4336070434649428420[320] = 0; - out_4336070434649428420[321] = 0; - out_4336070434649428420[322] = 0; - out_4336070434649428420[323] = 1; +void F_fun(double *state, double dt, double *out_2697011094328554799) { + out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[2] = 0; + out_2697011094328554799[3] = 0; + out_2697011094328554799[4] = 0; + out_2697011094328554799[5] = 0; + out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[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_2697011094328554799[9] = 0; + out_2697011094328554799[10] = 0; + out_2697011094328554799[11] = 0; + out_2697011094328554799[12] = 0; + out_2697011094328554799[13] = 0; + out_2697011094328554799[14] = 0; + out_2697011094328554799[15] = 0; + out_2697011094328554799[16] = 0; + out_2697011094328554799[17] = 0; + out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[20] = 0; + out_2697011094328554799[21] = 0; + out_2697011094328554799[22] = 0; + out_2697011094328554799[23] = 0; + out_2697011094328554799[24] = 0; + out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[27] = 0; + out_2697011094328554799[28] = 0; + out_2697011094328554799[29] = 0; + out_2697011094328554799[30] = 0; + out_2697011094328554799[31] = 0; + out_2697011094328554799[32] = 0; + out_2697011094328554799[33] = 0; + out_2697011094328554799[34] = 0; + out_2697011094328554799[35] = 0; + out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[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_2697011094328554799[39] = 0; + out_2697011094328554799[40] = 0; + out_2697011094328554799[41] = 0; + out_2697011094328554799[42] = 0; + out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[45] = 0; + out_2697011094328554799[46] = 0; + out_2697011094328554799[47] = 0; + out_2697011094328554799[48] = 0; + out_2697011094328554799[49] = 0; + out_2697011094328554799[50] = 0; + out_2697011094328554799[51] = 0; + out_2697011094328554799[52] = 0; + out_2697011094328554799[53] = 0; + out_2697011094328554799[54] = 0; + out_2697011094328554799[55] = 0; + out_2697011094328554799[56] = 0; + out_2697011094328554799[57] = 1; + out_2697011094328554799[58] = 0; + out_2697011094328554799[59] = 0; + out_2697011094328554799[60] = 0; + out_2697011094328554799[61] = 0; + out_2697011094328554799[62] = 0; + out_2697011094328554799[63] = 0; + out_2697011094328554799[64] = 0; + out_2697011094328554799[65] = 0; + out_2697011094328554799[66] = dt; + out_2697011094328554799[67] = 0; + out_2697011094328554799[68] = 0; + out_2697011094328554799[69] = 0; + out_2697011094328554799[70] = 0; + out_2697011094328554799[71] = 0; + out_2697011094328554799[72] = 0; + out_2697011094328554799[73] = 0; + out_2697011094328554799[74] = 0; + out_2697011094328554799[75] = 0; + out_2697011094328554799[76] = 1; + out_2697011094328554799[77] = 0; + out_2697011094328554799[78] = 0; + out_2697011094328554799[79] = 0; + out_2697011094328554799[80] = 0; + out_2697011094328554799[81] = 0; + out_2697011094328554799[82] = 0; + out_2697011094328554799[83] = 0; + out_2697011094328554799[84] = 0; + out_2697011094328554799[85] = dt; + out_2697011094328554799[86] = 0; + out_2697011094328554799[87] = 0; + out_2697011094328554799[88] = 0; + out_2697011094328554799[89] = 0; + out_2697011094328554799[90] = 0; + out_2697011094328554799[91] = 0; + out_2697011094328554799[92] = 0; + out_2697011094328554799[93] = 0; + out_2697011094328554799[94] = 0; + out_2697011094328554799[95] = 1; + out_2697011094328554799[96] = 0; + out_2697011094328554799[97] = 0; + out_2697011094328554799[98] = 0; + out_2697011094328554799[99] = 0; + out_2697011094328554799[100] = 0; + out_2697011094328554799[101] = 0; + out_2697011094328554799[102] = 0; + out_2697011094328554799[103] = 0; + out_2697011094328554799[104] = dt; + out_2697011094328554799[105] = 0; + out_2697011094328554799[106] = 0; + out_2697011094328554799[107] = 0; + out_2697011094328554799[108] = 0; + out_2697011094328554799[109] = 0; + out_2697011094328554799[110] = 0; + out_2697011094328554799[111] = 0; + out_2697011094328554799[112] = 0; + out_2697011094328554799[113] = 0; + out_2697011094328554799[114] = 1; + out_2697011094328554799[115] = 0; + out_2697011094328554799[116] = 0; + out_2697011094328554799[117] = 0; + out_2697011094328554799[118] = 0; + out_2697011094328554799[119] = 0; + out_2697011094328554799[120] = 0; + out_2697011094328554799[121] = 0; + out_2697011094328554799[122] = 0; + out_2697011094328554799[123] = 0; + out_2697011094328554799[124] = 0; + out_2697011094328554799[125] = 0; + out_2697011094328554799[126] = 0; + out_2697011094328554799[127] = 0; + out_2697011094328554799[128] = 0; + out_2697011094328554799[129] = 0; + out_2697011094328554799[130] = 0; + out_2697011094328554799[131] = 0; + out_2697011094328554799[132] = 0; + out_2697011094328554799[133] = 1; + out_2697011094328554799[134] = 0; + out_2697011094328554799[135] = 0; + out_2697011094328554799[136] = 0; + out_2697011094328554799[137] = 0; + out_2697011094328554799[138] = 0; + out_2697011094328554799[139] = 0; + out_2697011094328554799[140] = 0; + out_2697011094328554799[141] = 0; + out_2697011094328554799[142] = 0; + out_2697011094328554799[143] = 0; + out_2697011094328554799[144] = 0; + out_2697011094328554799[145] = 0; + out_2697011094328554799[146] = 0; + out_2697011094328554799[147] = 0; + out_2697011094328554799[148] = 0; + out_2697011094328554799[149] = 0; + out_2697011094328554799[150] = 0; + out_2697011094328554799[151] = 0; + out_2697011094328554799[152] = 1; + out_2697011094328554799[153] = 0; + out_2697011094328554799[154] = 0; + out_2697011094328554799[155] = 0; + out_2697011094328554799[156] = 0; + out_2697011094328554799[157] = 0; + out_2697011094328554799[158] = 0; + out_2697011094328554799[159] = 0; + out_2697011094328554799[160] = 0; + out_2697011094328554799[161] = 0; + out_2697011094328554799[162] = 0; + out_2697011094328554799[163] = 0; + out_2697011094328554799[164] = 0; + out_2697011094328554799[165] = 0; + out_2697011094328554799[166] = 0; + out_2697011094328554799[167] = 0; + out_2697011094328554799[168] = 0; + out_2697011094328554799[169] = 0; + out_2697011094328554799[170] = 0; + out_2697011094328554799[171] = 1; + out_2697011094328554799[172] = 0; + out_2697011094328554799[173] = 0; + out_2697011094328554799[174] = 0; + out_2697011094328554799[175] = 0; + out_2697011094328554799[176] = 0; + out_2697011094328554799[177] = 0; + out_2697011094328554799[178] = 0; + out_2697011094328554799[179] = 0; + out_2697011094328554799[180] = 0; + out_2697011094328554799[181] = 0; + out_2697011094328554799[182] = 0; + out_2697011094328554799[183] = 0; + out_2697011094328554799[184] = 0; + out_2697011094328554799[185] = 0; + out_2697011094328554799[186] = 0; + out_2697011094328554799[187] = 0; + out_2697011094328554799[188] = 0; + out_2697011094328554799[189] = 0; + out_2697011094328554799[190] = 1; + out_2697011094328554799[191] = 0; + out_2697011094328554799[192] = 0; + out_2697011094328554799[193] = 0; + out_2697011094328554799[194] = 0; + out_2697011094328554799[195] = 0; + out_2697011094328554799[196] = 0; + out_2697011094328554799[197] = 0; + out_2697011094328554799[198] = 0; + out_2697011094328554799[199] = 0; + out_2697011094328554799[200] = 0; + out_2697011094328554799[201] = 0; + out_2697011094328554799[202] = 0; + out_2697011094328554799[203] = 0; + out_2697011094328554799[204] = 0; + out_2697011094328554799[205] = 0; + out_2697011094328554799[206] = 0; + out_2697011094328554799[207] = 0; + out_2697011094328554799[208] = 0; + out_2697011094328554799[209] = 1; + out_2697011094328554799[210] = 0; + out_2697011094328554799[211] = 0; + out_2697011094328554799[212] = 0; + out_2697011094328554799[213] = 0; + out_2697011094328554799[214] = 0; + out_2697011094328554799[215] = 0; + out_2697011094328554799[216] = 0; + out_2697011094328554799[217] = 0; + out_2697011094328554799[218] = 0; + out_2697011094328554799[219] = 0; + out_2697011094328554799[220] = 0; + out_2697011094328554799[221] = 0; + out_2697011094328554799[222] = 0; + out_2697011094328554799[223] = 0; + out_2697011094328554799[224] = 0; + out_2697011094328554799[225] = 0; + out_2697011094328554799[226] = 0; + out_2697011094328554799[227] = 0; + out_2697011094328554799[228] = 1; + out_2697011094328554799[229] = 0; + out_2697011094328554799[230] = 0; + out_2697011094328554799[231] = 0; + out_2697011094328554799[232] = 0; + out_2697011094328554799[233] = 0; + out_2697011094328554799[234] = 0; + out_2697011094328554799[235] = 0; + out_2697011094328554799[236] = 0; + out_2697011094328554799[237] = 0; + out_2697011094328554799[238] = 0; + out_2697011094328554799[239] = 0; + out_2697011094328554799[240] = 0; + out_2697011094328554799[241] = 0; + out_2697011094328554799[242] = 0; + out_2697011094328554799[243] = 0; + out_2697011094328554799[244] = 0; + out_2697011094328554799[245] = 0; + out_2697011094328554799[246] = 0; + out_2697011094328554799[247] = 1; + out_2697011094328554799[248] = 0; + out_2697011094328554799[249] = 0; + out_2697011094328554799[250] = 0; + out_2697011094328554799[251] = 0; + out_2697011094328554799[252] = 0; + out_2697011094328554799[253] = 0; + out_2697011094328554799[254] = 0; + out_2697011094328554799[255] = 0; + out_2697011094328554799[256] = 0; + out_2697011094328554799[257] = 0; + out_2697011094328554799[258] = 0; + out_2697011094328554799[259] = 0; + out_2697011094328554799[260] = 0; + out_2697011094328554799[261] = 0; + out_2697011094328554799[262] = 0; + out_2697011094328554799[263] = 0; + out_2697011094328554799[264] = 0; + out_2697011094328554799[265] = 0; + out_2697011094328554799[266] = 1; + out_2697011094328554799[267] = 0; + out_2697011094328554799[268] = 0; + out_2697011094328554799[269] = 0; + out_2697011094328554799[270] = 0; + out_2697011094328554799[271] = 0; + out_2697011094328554799[272] = 0; + out_2697011094328554799[273] = 0; + out_2697011094328554799[274] = 0; + out_2697011094328554799[275] = 0; + out_2697011094328554799[276] = 0; + out_2697011094328554799[277] = 0; + out_2697011094328554799[278] = 0; + out_2697011094328554799[279] = 0; + out_2697011094328554799[280] = 0; + out_2697011094328554799[281] = 0; + out_2697011094328554799[282] = 0; + out_2697011094328554799[283] = 0; + out_2697011094328554799[284] = 0; + out_2697011094328554799[285] = 1; + out_2697011094328554799[286] = 0; + out_2697011094328554799[287] = 0; + out_2697011094328554799[288] = 0; + out_2697011094328554799[289] = 0; + out_2697011094328554799[290] = 0; + out_2697011094328554799[291] = 0; + out_2697011094328554799[292] = 0; + out_2697011094328554799[293] = 0; + out_2697011094328554799[294] = 0; + out_2697011094328554799[295] = 0; + out_2697011094328554799[296] = 0; + out_2697011094328554799[297] = 0; + out_2697011094328554799[298] = 0; + out_2697011094328554799[299] = 0; + out_2697011094328554799[300] = 0; + out_2697011094328554799[301] = 0; + out_2697011094328554799[302] = 0; + out_2697011094328554799[303] = 0; + out_2697011094328554799[304] = 1; + out_2697011094328554799[305] = 0; + out_2697011094328554799[306] = 0; + out_2697011094328554799[307] = 0; + out_2697011094328554799[308] = 0; + out_2697011094328554799[309] = 0; + out_2697011094328554799[310] = 0; + out_2697011094328554799[311] = 0; + out_2697011094328554799[312] = 0; + out_2697011094328554799[313] = 0; + out_2697011094328554799[314] = 0; + out_2697011094328554799[315] = 0; + out_2697011094328554799[316] = 0; + out_2697011094328554799[317] = 0; + out_2697011094328554799[318] = 0; + out_2697011094328554799[319] = 0; + out_2697011094328554799[320] = 0; + out_2697011094328554799[321] = 0; + out_2697011094328554799[322] = 0; + out_2697011094328554799[323] = 1; } -void h_4(double *state, double *unused, double *out_5526642384709914880) { - out_5526642384709914880[0] = state[6] + state[9]; - out_5526642384709914880[1] = state[7] + state[10]; - out_5526642384709914880[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1053451418042427012) { + out_1053451418042427012[0] = state[6] + state[9]; + out_1053451418042427012[1] = state[7] + state[10]; + out_1053451418042427012[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5691168246274914733) { - out_5691168246274914733[0] = 0; - out_5691168246274914733[1] = 0; - out_5691168246274914733[2] = 0; - out_5691168246274914733[3] = 0; - out_5691168246274914733[4] = 0; - out_5691168246274914733[5] = 0; - out_5691168246274914733[6] = 1; - out_5691168246274914733[7] = 0; - out_5691168246274914733[8] = 0; - out_5691168246274914733[9] = 1; - out_5691168246274914733[10] = 0; - out_5691168246274914733[11] = 0; - out_5691168246274914733[12] = 0; - out_5691168246274914733[13] = 0; - out_5691168246274914733[14] = 0; - out_5691168246274914733[15] = 0; - out_5691168246274914733[16] = 0; - out_5691168246274914733[17] = 0; - out_5691168246274914733[18] = 0; - out_5691168246274914733[19] = 0; - out_5691168246274914733[20] = 0; - out_5691168246274914733[21] = 0; - out_5691168246274914733[22] = 0; - out_5691168246274914733[23] = 0; - out_5691168246274914733[24] = 0; - out_5691168246274914733[25] = 1; - out_5691168246274914733[26] = 0; - out_5691168246274914733[27] = 0; - out_5691168246274914733[28] = 1; - out_5691168246274914733[29] = 0; - out_5691168246274914733[30] = 0; - out_5691168246274914733[31] = 0; - out_5691168246274914733[32] = 0; - out_5691168246274914733[33] = 0; - out_5691168246274914733[34] = 0; - out_5691168246274914733[35] = 0; - out_5691168246274914733[36] = 0; - out_5691168246274914733[37] = 0; - out_5691168246274914733[38] = 0; - out_5691168246274914733[39] = 0; - out_5691168246274914733[40] = 0; - out_5691168246274914733[41] = 0; - out_5691168246274914733[42] = 0; - out_5691168246274914733[43] = 0; - out_5691168246274914733[44] = 1; - out_5691168246274914733[45] = 0; - out_5691168246274914733[46] = 0; - out_5691168246274914733[47] = 1; - out_5691168246274914733[48] = 0; - out_5691168246274914733[49] = 0; - out_5691168246274914733[50] = 0; - out_5691168246274914733[51] = 0; - out_5691168246274914733[52] = 0; - out_5691168246274914733[53] = 0; +void H_4(double *state, double *unused, double *out_7540267336217958736) { + out_7540267336217958736[0] = 0; + out_7540267336217958736[1] = 0; + out_7540267336217958736[2] = 0; + out_7540267336217958736[3] = 0; + out_7540267336217958736[4] = 0; + out_7540267336217958736[5] = 0; + out_7540267336217958736[6] = 1; + out_7540267336217958736[7] = 0; + out_7540267336217958736[8] = 0; + out_7540267336217958736[9] = 1; + out_7540267336217958736[10] = 0; + out_7540267336217958736[11] = 0; + out_7540267336217958736[12] = 0; + out_7540267336217958736[13] = 0; + out_7540267336217958736[14] = 0; + out_7540267336217958736[15] = 0; + out_7540267336217958736[16] = 0; + out_7540267336217958736[17] = 0; + out_7540267336217958736[18] = 0; + out_7540267336217958736[19] = 0; + out_7540267336217958736[20] = 0; + out_7540267336217958736[21] = 0; + out_7540267336217958736[22] = 0; + out_7540267336217958736[23] = 0; + out_7540267336217958736[24] = 0; + out_7540267336217958736[25] = 1; + out_7540267336217958736[26] = 0; + out_7540267336217958736[27] = 0; + out_7540267336217958736[28] = 1; + out_7540267336217958736[29] = 0; + out_7540267336217958736[30] = 0; + out_7540267336217958736[31] = 0; + out_7540267336217958736[32] = 0; + out_7540267336217958736[33] = 0; + out_7540267336217958736[34] = 0; + out_7540267336217958736[35] = 0; + out_7540267336217958736[36] = 0; + out_7540267336217958736[37] = 0; + out_7540267336217958736[38] = 0; + out_7540267336217958736[39] = 0; + out_7540267336217958736[40] = 0; + out_7540267336217958736[41] = 0; + out_7540267336217958736[42] = 0; + out_7540267336217958736[43] = 0; + out_7540267336217958736[44] = 1; + out_7540267336217958736[45] = 0; + out_7540267336217958736[46] = 0; + out_7540267336217958736[47] = 1; + out_7540267336217958736[48] = 0; + out_7540267336217958736[49] = 0; + out_7540267336217958736[50] = 0; + out_7540267336217958736[51] = 0; + out_7540267336217958736[52] = 0; + out_7540267336217958736[53] = 0; } -void h_10(double *state, double *unused, double *out_6728942981811315921) { - out_6728942981811315921[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6728942981811315921[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6728942981811315921[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_3684376753725260505) { + out_3684376753725260505[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3684376753725260505[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3684376753725260505[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_4278506402956144046) { - out_4278506402956144046[0] = 0; - out_4278506402956144046[1] = 9.8100000000000005*cos(state[1]); - out_4278506402956144046[2] = 0; - out_4278506402956144046[3] = 0; - out_4278506402956144046[4] = -state[8]; - out_4278506402956144046[5] = state[7]; - out_4278506402956144046[6] = 0; - out_4278506402956144046[7] = state[5]; - out_4278506402956144046[8] = -state[4]; - out_4278506402956144046[9] = 0; - out_4278506402956144046[10] = 0; - out_4278506402956144046[11] = 0; - out_4278506402956144046[12] = 1; - out_4278506402956144046[13] = 0; - out_4278506402956144046[14] = 0; - out_4278506402956144046[15] = 1; - out_4278506402956144046[16] = 0; - out_4278506402956144046[17] = 0; - out_4278506402956144046[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4278506402956144046[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4278506402956144046[20] = 0; - out_4278506402956144046[21] = state[8]; - out_4278506402956144046[22] = 0; - out_4278506402956144046[23] = -state[6]; - out_4278506402956144046[24] = -state[5]; - out_4278506402956144046[25] = 0; - out_4278506402956144046[26] = state[3]; - out_4278506402956144046[27] = 0; - out_4278506402956144046[28] = 0; - out_4278506402956144046[29] = 0; - out_4278506402956144046[30] = 0; - out_4278506402956144046[31] = 1; - out_4278506402956144046[32] = 0; - out_4278506402956144046[33] = 0; - out_4278506402956144046[34] = 1; - out_4278506402956144046[35] = 0; - out_4278506402956144046[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4278506402956144046[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4278506402956144046[38] = 0; - out_4278506402956144046[39] = -state[7]; - out_4278506402956144046[40] = state[6]; - out_4278506402956144046[41] = 0; - out_4278506402956144046[42] = state[4]; - out_4278506402956144046[43] = -state[3]; - out_4278506402956144046[44] = 0; - out_4278506402956144046[45] = 0; - out_4278506402956144046[46] = 0; - out_4278506402956144046[47] = 0; - out_4278506402956144046[48] = 0; - out_4278506402956144046[49] = 0; - out_4278506402956144046[50] = 1; - out_4278506402956144046[51] = 0; - out_4278506402956144046[52] = 0; - out_4278506402956144046[53] = 1; +void H_10(double *state, double *unused, double *out_5090252371717073425) { + out_5090252371717073425[0] = 0; + out_5090252371717073425[1] = 9.8100000000000005*cos(state[1]); + out_5090252371717073425[2] = 0; + out_5090252371717073425[3] = 0; + out_5090252371717073425[4] = -state[8]; + out_5090252371717073425[5] = state[7]; + out_5090252371717073425[6] = 0; + out_5090252371717073425[7] = state[5]; + out_5090252371717073425[8] = -state[4]; + out_5090252371717073425[9] = 0; + out_5090252371717073425[10] = 0; + out_5090252371717073425[11] = 0; + out_5090252371717073425[12] = 1; + out_5090252371717073425[13] = 0; + out_5090252371717073425[14] = 0; + out_5090252371717073425[15] = 1; + out_5090252371717073425[16] = 0; + out_5090252371717073425[17] = 0; + out_5090252371717073425[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5090252371717073425[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5090252371717073425[20] = 0; + out_5090252371717073425[21] = state[8]; + out_5090252371717073425[22] = 0; + out_5090252371717073425[23] = -state[6]; + out_5090252371717073425[24] = -state[5]; + out_5090252371717073425[25] = 0; + out_5090252371717073425[26] = state[3]; + out_5090252371717073425[27] = 0; + out_5090252371717073425[28] = 0; + out_5090252371717073425[29] = 0; + out_5090252371717073425[30] = 0; + out_5090252371717073425[31] = 1; + out_5090252371717073425[32] = 0; + out_5090252371717073425[33] = 0; + out_5090252371717073425[34] = 1; + out_5090252371717073425[35] = 0; + out_5090252371717073425[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5090252371717073425[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5090252371717073425[38] = 0; + out_5090252371717073425[39] = -state[7]; + out_5090252371717073425[40] = state[6]; + out_5090252371717073425[41] = 0; + out_5090252371717073425[42] = state[4]; + out_5090252371717073425[43] = -state[3]; + out_5090252371717073425[44] = 0; + out_5090252371717073425[45] = 0; + out_5090252371717073425[46] = 0; + out_5090252371717073425[47] = 0; + out_5090252371717073425[48] = 0; + out_5090252371717073425[49] = 0; + out_5090252371717073425[50] = 1; + out_5090252371717073425[51] = 0; + out_5090252371717073425[52] = 0; + out_5090252371717073425[53] = 1; } -void h_13(double *state, double *unused, double *out_1205451540469147746) { - out_1205451540469147746[0] = state[3]; - out_1205451540469147746[1] = state[4]; - out_1205451540469147746[2] = state[5]; +void h_13(double *state, double *unused, double *out_5749954067458841209) { + out_5749954067458841209[0] = state[3]; + out_5749954067458841209[1] = state[4]; + out_5749954067458841209[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8903442071607247534) { - out_8903442071607247534[0] = 0; - out_8903442071607247534[1] = 0; - out_8903442071607247534[2] = 0; - out_8903442071607247534[3] = 1; - out_8903442071607247534[4] = 0; - out_8903442071607247534[5] = 0; - out_8903442071607247534[6] = 0; - out_8903442071607247534[7] = 0; - out_8903442071607247534[8] = 0; - out_8903442071607247534[9] = 0; - out_8903442071607247534[10] = 0; - out_8903442071607247534[11] = 0; - out_8903442071607247534[12] = 0; - out_8903442071607247534[13] = 0; - out_8903442071607247534[14] = 0; - out_8903442071607247534[15] = 0; - out_8903442071607247534[16] = 0; - out_8903442071607247534[17] = 0; - out_8903442071607247534[18] = 0; - out_8903442071607247534[19] = 0; - out_8903442071607247534[20] = 0; - out_8903442071607247534[21] = 0; - out_8903442071607247534[22] = 1; - out_8903442071607247534[23] = 0; - out_8903442071607247534[24] = 0; - out_8903442071607247534[25] = 0; - out_8903442071607247534[26] = 0; - out_8903442071607247534[27] = 0; - out_8903442071607247534[28] = 0; - out_8903442071607247534[29] = 0; - out_8903442071607247534[30] = 0; - out_8903442071607247534[31] = 0; - out_8903442071607247534[32] = 0; - out_8903442071607247534[33] = 0; - out_8903442071607247534[34] = 0; - out_8903442071607247534[35] = 0; - out_8903442071607247534[36] = 0; - out_8903442071607247534[37] = 0; - out_8903442071607247534[38] = 0; - out_8903442071607247534[39] = 0; - out_8903442071607247534[40] = 0; - out_8903442071607247534[41] = 1; - out_8903442071607247534[42] = 0; - out_8903442071607247534[43] = 0; - out_8903442071607247534[44] = 0; - out_8903442071607247534[45] = 0; - out_8903442071607247534[46] = 0; - out_8903442071607247534[47] = 0; - out_8903442071607247534[48] = 0; - out_8903442071607247534[49] = 0; - out_8903442071607247534[50] = 0; - out_8903442071607247534[51] = 0; - out_8903442071607247534[52] = 0; - out_8903442071607247534[53] = 0; +void H_13(double *state, double *unused, double *out_4327993510885625935) { + out_4327993510885625935[0] = 0; + out_4327993510885625935[1] = 0; + out_4327993510885625935[2] = 0; + out_4327993510885625935[3] = 1; + out_4327993510885625935[4] = 0; + out_4327993510885625935[5] = 0; + out_4327993510885625935[6] = 0; + out_4327993510885625935[7] = 0; + out_4327993510885625935[8] = 0; + out_4327993510885625935[9] = 0; + out_4327993510885625935[10] = 0; + out_4327993510885625935[11] = 0; + out_4327993510885625935[12] = 0; + out_4327993510885625935[13] = 0; + out_4327993510885625935[14] = 0; + out_4327993510885625935[15] = 0; + out_4327993510885625935[16] = 0; + out_4327993510885625935[17] = 0; + out_4327993510885625935[18] = 0; + out_4327993510885625935[19] = 0; + out_4327993510885625935[20] = 0; + out_4327993510885625935[21] = 0; + out_4327993510885625935[22] = 1; + out_4327993510885625935[23] = 0; + out_4327993510885625935[24] = 0; + out_4327993510885625935[25] = 0; + out_4327993510885625935[26] = 0; + out_4327993510885625935[27] = 0; + out_4327993510885625935[28] = 0; + out_4327993510885625935[29] = 0; + out_4327993510885625935[30] = 0; + out_4327993510885625935[31] = 0; + out_4327993510885625935[32] = 0; + out_4327993510885625935[33] = 0; + out_4327993510885625935[34] = 0; + out_4327993510885625935[35] = 0; + out_4327993510885625935[36] = 0; + out_4327993510885625935[37] = 0; + out_4327993510885625935[38] = 0; + out_4327993510885625935[39] = 0; + out_4327993510885625935[40] = 0; + out_4327993510885625935[41] = 1; + out_4327993510885625935[42] = 0; + out_4327993510885625935[43] = 0; + out_4327993510885625935[44] = 0; + out_4327993510885625935[45] = 0; + out_4327993510885625935[46] = 0; + out_4327993510885625935[47] = 0; + out_4327993510885625935[48] = 0; + out_4327993510885625935[49] = 0; + out_4327993510885625935[50] = 0; + out_4327993510885625935[51] = 0; + out_4327993510885625935[52] = 0; + out_4327993510885625935[53] = 0; } -void h_14(double *state, double *unused, double *out_3303339494882182614) { - out_3303339494882182614[0] = state[6]; - out_3303339494882182614[1] = state[7]; - out_3303339494882182614[2] = state[8]; +void h_14(double *state, double *unused, double *out_9151671114827748167) { + out_9151671114827748167[0] = state[6]; + out_9151671114827748167[1] = state[7]; + out_9151671114827748167[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8792334971095152354) { - out_8792334971095152354[0] = 0; - out_8792334971095152354[1] = 0; - out_8792334971095152354[2] = 0; - out_8792334971095152354[3] = 0; - out_8792334971095152354[4] = 0; - out_8792334971095152354[5] = 0; - out_8792334971095152354[6] = 1; - out_8792334971095152354[7] = 0; - out_8792334971095152354[8] = 0; - out_8792334971095152354[9] = 0; - out_8792334971095152354[10] = 0; - out_8792334971095152354[11] = 0; - out_8792334971095152354[12] = 0; - out_8792334971095152354[13] = 0; - out_8792334971095152354[14] = 0; - out_8792334971095152354[15] = 0; - out_8792334971095152354[16] = 0; - out_8792334971095152354[17] = 0; - out_8792334971095152354[18] = 0; - out_8792334971095152354[19] = 0; - out_8792334971095152354[20] = 0; - out_8792334971095152354[21] = 0; - out_8792334971095152354[22] = 0; - out_8792334971095152354[23] = 0; - out_8792334971095152354[24] = 0; - out_8792334971095152354[25] = 1; - out_8792334971095152354[26] = 0; - out_8792334971095152354[27] = 0; - out_8792334971095152354[28] = 0; - out_8792334971095152354[29] = 0; - out_8792334971095152354[30] = 0; - out_8792334971095152354[31] = 0; - out_8792334971095152354[32] = 0; - out_8792334971095152354[33] = 0; - out_8792334971095152354[34] = 0; - out_8792334971095152354[35] = 0; - out_8792334971095152354[36] = 0; - out_8792334971095152354[37] = 0; - out_8792334971095152354[38] = 0; - out_8792334971095152354[39] = 0; - out_8792334971095152354[40] = 0; - out_8792334971095152354[41] = 0; - out_8792334971095152354[42] = 0; - out_8792334971095152354[43] = 0; - out_8792334971095152354[44] = 1; - out_8792334971095152354[45] = 0; - out_8792334971095152354[46] = 0; - out_8792334971095152354[47] = 0; - out_8792334971095152354[48] = 0; - out_8792334971095152354[49] = 0; - out_8792334971095152354[50] = 0; - out_8792334971095152354[51] = 0; - out_8792334971095152354[52] = 0; - out_8792334971095152354[53] = 0; +void H_14(double *state, double *unused, double *out_3577026479878474207) { + out_3577026479878474207[0] = 0; + out_3577026479878474207[1] = 0; + out_3577026479878474207[2] = 0; + out_3577026479878474207[3] = 0; + out_3577026479878474207[4] = 0; + out_3577026479878474207[5] = 0; + out_3577026479878474207[6] = 1; + out_3577026479878474207[7] = 0; + out_3577026479878474207[8] = 0; + out_3577026479878474207[9] = 0; + out_3577026479878474207[10] = 0; + out_3577026479878474207[11] = 0; + out_3577026479878474207[12] = 0; + out_3577026479878474207[13] = 0; + out_3577026479878474207[14] = 0; + out_3577026479878474207[15] = 0; + out_3577026479878474207[16] = 0; + out_3577026479878474207[17] = 0; + out_3577026479878474207[18] = 0; + out_3577026479878474207[19] = 0; + out_3577026479878474207[20] = 0; + out_3577026479878474207[21] = 0; + out_3577026479878474207[22] = 0; + out_3577026479878474207[23] = 0; + out_3577026479878474207[24] = 0; + out_3577026479878474207[25] = 1; + out_3577026479878474207[26] = 0; + out_3577026479878474207[27] = 0; + out_3577026479878474207[28] = 0; + out_3577026479878474207[29] = 0; + out_3577026479878474207[30] = 0; + out_3577026479878474207[31] = 0; + out_3577026479878474207[32] = 0; + out_3577026479878474207[33] = 0; + out_3577026479878474207[34] = 0; + out_3577026479878474207[35] = 0; + out_3577026479878474207[36] = 0; + out_3577026479878474207[37] = 0; + out_3577026479878474207[38] = 0; + out_3577026479878474207[39] = 0; + out_3577026479878474207[40] = 0; + out_3577026479878474207[41] = 0; + out_3577026479878474207[42] = 0; + out_3577026479878474207[43] = 0; + out_3577026479878474207[44] = 1; + out_3577026479878474207[45] = 0; + out_3577026479878474207[46] = 0; + out_3577026479878474207[47] = 0; + out_3577026479878474207[48] = 0; + out_3577026479878474207[49] = 0; + out_3577026479878474207[50] = 0; + out_3577026479878474207[51] = 0; + out_3577026479878474207[52] = 0; + out_3577026479878474207[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_4967863734907407968) { - err_fun(nom_x, delta_x, out_4967863734907407968); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3926294361318359623) { + err_fun(nom_x, delta_x, out_3926294361318359623); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_554301816764323460) { - inv_err_fun(nom_x, true_x, out_554301816764323460); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5231104082209692226) { + inv_err_fun(nom_x, true_x, out_5231104082209692226); } -void pose_H_mod_fun(double *state, double *out_3047027985808074405) { - H_mod_fun(state, out_3047027985808074405); +void pose_H_mod_fun(double *state, double *out_5646756432622182646) { + H_mod_fun(state, out_5646756432622182646); } -void pose_f_fun(double *state, double dt, double *out_986492010673501731) { - f_fun(state, dt, out_986492010673501731); +void pose_f_fun(double *state, double dt, double *out_1137320570887410122) { + f_fun(state, dt, out_1137320570887410122); } -void pose_F_fun(double *state, double dt, double *out_4336070434649428420) { - F_fun(state, dt, out_4336070434649428420); +void pose_F_fun(double *state, double dt, double *out_2697011094328554799) { + F_fun(state, dt, out_2697011094328554799); } -void pose_h_4(double *state, double *unused, double *out_5526642384709914880) { - h_4(state, unused, out_5526642384709914880); +void pose_h_4(double *state, double *unused, double *out_1053451418042427012) { + h_4(state, unused, out_1053451418042427012); } -void pose_H_4(double *state, double *unused, double *out_5691168246274914733) { - H_4(state, unused, out_5691168246274914733); +void pose_H_4(double *state, double *unused, double *out_7540267336217958736) { + H_4(state, unused, out_7540267336217958736); } -void pose_h_10(double *state, double *unused, double *out_6728942981811315921) { - h_10(state, unused, out_6728942981811315921); +void pose_h_10(double *state, double *unused, double *out_3684376753725260505) { + h_10(state, unused, out_3684376753725260505); } -void pose_H_10(double *state, double *unused, double *out_4278506402956144046) { - H_10(state, unused, out_4278506402956144046); +void pose_H_10(double *state, double *unused, double *out_5090252371717073425) { + H_10(state, unused, out_5090252371717073425); } -void pose_h_13(double *state, double *unused, double *out_1205451540469147746) { - h_13(state, unused, out_1205451540469147746); +void pose_h_13(double *state, double *unused, double *out_5749954067458841209) { + h_13(state, unused, out_5749954067458841209); } -void pose_H_13(double *state, double *unused, double *out_8903442071607247534) { - H_13(state, unused, out_8903442071607247534); +void pose_H_13(double *state, double *unused, double *out_4327993510885625935) { + H_13(state, unused, out_4327993510885625935); } -void pose_h_14(double *state, double *unused, double *out_3303339494882182614) { - h_14(state, unused, out_3303339494882182614); +void pose_h_14(double *state, double *unused, double *out_9151671114827748167) { + h_14(state, unused, out_9151671114827748167); } -void pose_H_14(double *state, double *unused, double *out_8792334971095152354) { - H_14(state, unused, out_8792334971095152354); +void pose_H_14(double *state, double *unused, double *out_3577026479878474207) { + H_14(state, unused, out_3577026479878474207); } 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 b74fe6f27..f64f55a08 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_4967863734907407968); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_554301816764323460); -void pose_H_mod_fun(double *state, double *out_3047027985808074405); -void pose_f_fun(double *state, double dt, double *out_986492010673501731); -void pose_F_fun(double *state, double dt, double *out_4336070434649428420); -void pose_h_4(double *state, double *unused, double *out_5526642384709914880); -void pose_H_4(double *state, double *unused, double *out_5691168246274914733); -void pose_h_10(double *state, double *unused, double *out_6728942981811315921); -void pose_H_10(double *state, double *unused, double *out_4278506402956144046); -void pose_h_13(double *state, double *unused, double *out_1205451540469147746); -void pose_H_13(double *state, double *unused, double *out_8903442071607247534); -void pose_h_14(double *state, double *unused, double *out_3303339494882182614); -void pose_H_14(double *state, double *unused, double *out_8792334971095152354); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3926294361318359623); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5231104082209692226); +void pose_H_mod_fun(double *state, double *out_5646756432622182646); +void pose_f_fun(double *state, double dt, double *out_1137320570887410122); +void pose_F_fun(double *state, double dt, double *out_2697011094328554799); +void pose_h_4(double *state, double *unused, double *out_1053451418042427012); +void pose_H_4(double *state, double *unused, double *out_7540267336217958736); +void pose_h_10(double *state, double *unused, double *out_3684376753725260505); +void pose_H_10(double *state, double *unused, double *out_5090252371717073425); +void pose_h_13(double *state, double *unused, double *out_5749954067458841209); +void pose_H_13(double *state, double *unused, double *out_4327993510885625935); +void pose_h_14(double *state, double *unused, double *out_9151671114827748167); +void pose_H_14(double *state, double *unused, double *out_3577026479878474207); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 7f0556c39..f461c65e4 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 29be30341..5dbfea0eb 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ