diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index c0d1fc102..34d40b15e 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 deb86ad48..8caee184b 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 13f12acde..14b3ea81a 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index bdf29919b..e12eed82b 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 6a8b7fc59..5cfbf95c0 100755 Binary files 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uint8_t gitversion[19] = "DEV-8a5cef0f-DEBUG"; +const uint8_t gitversion[19] = "DEV-2118eb17-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 0dfccab6f..9c8316c12 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 42944441a..ac645a3ff 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 48f0110d7..8a717454a 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 28d702297..3644c4834 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed 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a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 93c522bf4..c37a310e9 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 468f2a785..d79ff02e3 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-8a5cef0f-DEBUG \ No newline at end of file +DEV-2118eb17-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 5c5d83f7b..0056a6cab 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_3114295045279175255) { - out_3114295045279175255[0] = delta_x[0] + nom_x[0]; - out_3114295045279175255[1] = delta_x[1] + nom_x[1]; - out_3114295045279175255[2] = delta_x[2] + nom_x[2]; - out_3114295045279175255[3] = delta_x[3] + nom_x[3]; - out_3114295045279175255[4] = delta_x[4] + nom_x[4]; - out_3114295045279175255[5] = delta_x[5] + nom_x[5]; - out_3114295045279175255[6] = delta_x[6] + nom_x[6]; - out_3114295045279175255[7] = delta_x[7] + nom_x[7]; - out_3114295045279175255[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_1981160884949189432) { + out_1981160884949189432[0] = delta_x[0] + nom_x[0]; + out_1981160884949189432[1] = delta_x[1] + nom_x[1]; + out_1981160884949189432[2] = delta_x[2] + nom_x[2]; + out_1981160884949189432[3] = delta_x[3] + nom_x[3]; + out_1981160884949189432[4] = delta_x[4] + nom_x[4]; + out_1981160884949189432[5] = delta_x[5] + nom_x[5]; + out_1981160884949189432[6] = delta_x[6] + nom_x[6]; + out_1981160884949189432[7] = delta_x[7] + nom_x[7]; + out_1981160884949189432[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2774429114405664516) { - out_2774429114405664516[0] = -nom_x[0] + true_x[0]; - out_2774429114405664516[1] = -nom_x[1] + true_x[1]; - out_2774429114405664516[2] = -nom_x[2] + true_x[2]; - out_2774429114405664516[3] = -nom_x[3] + true_x[3]; - out_2774429114405664516[4] = -nom_x[4] + true_x[4]; - out_2774429114405664516[5] = -nom_x[5] + true_x[5]; - out_2774429114405664516[6] = -nom_x[6] + true_x[6]; - out_2774429114405664516[7] = -nom_x[7] + true_x[7]; - out_2774429114405664516[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) { + out_8847679371512298388[0] = -nom_x[0] + true_x[0]; + out_8847679371512298388[1] = -nom_x[1] + true_x[1]; + out_8847679371512298388[2] = -nom_x[2] + true_x[2]; + out_8847679371512298388[3] = -nom_x[3] + true_x[3]; + out_8847679371512298388[4] = -nom_x[4] + true_x[4]; + out_8847679371512298388[5] = -nom_x[5] + true_x[5]; + out_8847679371512298388[6] = -nom_x[6] + true_x[6]; + out_8847679371512298388[7] = -nom_x[7] + true_x[7]; + out_8847679371512298388[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6080875852390524285) { - out_6080875852390524285[0] = 1.0; - out_6080875852390524285[1] = 0.0; - out_6080875852390524285[2] = 0.0; - out_6080875852390524285[3] = 0.0; - out_6080875852390524285[4] = 0.0; - out_6080875852390524285[5] = 0.0; - out_6080875852390524285[6] = 0.0; - out_6080875852390524285[7] = 0.0; - out_6080875852390524285[8] = 0.0; - out_6080875852390524285[9] = 0.0; - out_6080875852390524285[10] = 1.0; - out_6080875852390524285[11] = 0.0; - out_6080875852390524285[12] = 0.0; - out_6080875852390524285[13] = 0.0; - out_6080875852390524285[14] = 0.0; - out_6080875852390524285[15] = 0.0; - out_6080875852390524285[16] = 0.0; - out_6080875852390524285[17] = 0.0; - out_6080875852390524285[18] = 0.0; - out_6080875852390524285[19] = 0.0; - out_6080875852390524285[20] = 1.0; - out_6080875852390524285[21] = 0.0; - out_6080875852390524285[22] = 0.0; - out_6080875852390524285[23] = 0.0; - out_6080875852390524285[24] = 0.0; - out_6080875852390524285[25] = 0.0; - out_6080875852390524285[26] = 0.0; - out_6080875852390524285[27] = 0.0; - out_6080875852390524285[28] = 0.0; - out_6080875852390524285[29] = 0.0; - out_6080875852390524285[30] = 1.0; - out_6080875852390524285[31] = 0.0; - out_6080875852390524285[32] = 0.0; - out_6080875852390524285[33] = 0.0; - out_6080875852390524285[34] = 0.0; - out_6080875852390524285[35] = 0.0; - out_6080875852390524285[36] = 0.0; - out_6080875852390524285[37] = 0.0; - out_6080875852390524285[38] = 0.0; - out_6080875852390524285[39] = 0.0; - out_6080875852390524285[40] = 1.0; - out_6080875852390524285[41] = 0.0; - out_6080875852390524285[42] = 0.0; - out_6080875852390524285[43] = 0.0; - out_6080875852390524285[44] = 0.0; - out_6080875852390524285[45] = 0.0; - out_6080875852390524285[46] = 0.0; - out_6080875852390524285[47] = 0.0; - out_6080875852390524285[48] = 0.0; - out_6080875852390524285[49] = 0.0; - out_6080875852390524285[50] = 1.0; - out_6080875852390524285[51] = 0.0; - out_6080875852390524285[52] = 0.0; - out_6080875852390524285[53] = 0.0; - out_6080875852390524285[54] = 0.0; - out_6080875852390524285[55] = 0.0; - out_6080875852390524285[56] = 0.0; - out_6080875852390524285[57] = 0.0; - out_6080875852390524285[58] = 0.0; - out_6080875852390524285[59] = 0.0; - out_6080875852390524285[60] = 1.0; - out_6080875852390524285[61] = 0.0; - out_6080875852390524285[62] = 0.0; - out_6080875852390524285[63] = 0.0; - out_6080875852390524285[64] = 0.0; - out_6080875852390524285[65] = 0.0; - out_6080875852390524285[66] = 0.0; - out_6080875852390524285[67] = 0.0; - out_6080875852390524285[68] = 0.0; - out_6080875852390524285[69] = 0.0; - out_6080875852390524285[70] = 1.0; - out_6080875852390524285[71] = 0.0; - out_6080875852390524285[72] = 0.0; - out_6080875852390524285[73] = 0.0; - out_6080875852390524285[74] = 0.0; - out_6080875852390524285[75] = 0.0; - out_6080875852390524285[76] = 0.0; - out_6080875852390524285[77] = 0.0; - out_6080875852390524285[78] = 0.0; - out_6080875852390524285[79] = 0.0; - out_6080875852390524285[80] = 1.0; +void H_mod_fun(double *state, double *out_5601961838873094342) { + out_5601961838873094342[0] = 1.0; + out_5601961838873094342[1] = 0.0; + out_5601961838873094342[2] = 0.0; + out_5601961838873094342[3] = 0.0; + out_5601961838873094342[4] = 0.0; + out_5601961838873094342[5] = 0.0; + out_5601961838873094342[6] = 0.0; + out_5601961838873094342[7] = 0.0; + out_5601961838873094342[8] = 0.0; + out_5601961838873094342[9] = 0.0; + out_5601961838873094342[10] = 1.0; + out_5601961838873094342[11] = 0.0; + out_5601961838873094342[12] = 0.0; + out_5601961838873094342[13] = 0.0; + out_5601961838873094342[14] = 0.0; + out_5601961838873094342[15] = 0.0; + out_5601961838873094342[16] = 0.0; + out_5601961838873094342[17] = 0.0; + out_5601961838873094342[18] = 0.0; + out_5601961838873094342[19] = 0.0; + out_5601961838873094342[20] = 1.0; + out_5601961838873094342[21] = 0.0; + out_5601961838873094342[22] = 0.0; + out_5601961838873094342[23] = 0.0; + out_5601961838873094342[24] = 0.0; + out_5601961838873094342[25] = 0.0; + out_5601961838873094342[26] = 0.0; + out_5601961838873094342[27] = 0.0; + out_5601961838873094342[28] = 0.0; + out_5601961838873094342[29] = 0.0; + out_5601961838873094342[30] = 1.0; + out_5601961838873094342[31] = 0.0; + out_5601961838873094342[32] = 0.0; + out_5601961838873094342[33] = 0.0; + out_5601961838873094342[34] = 0.0; + out_5601961838873094342[35] = 0.0; + out_5601961838873094342[36] = 0.0; + out_5601961838873094342[37] = 0.0; + out_5601961838873094342[38] = 0.0; + out_5601961838873094342[39] = 0.0; + out_5601961838873094342[40] = 1.0; + out_5601961838873094342[41] = 0.0; + out_5601961838873094342[42] = 0.0; + out_5601961838873094342[43] = 0.0; + out_5601961838873094342[44] = 0.0; + out_5601961838873094342[45] = 0.0; + out_5601961838873094342[46] = 0.0; + out_5601961838873094342[47] = 0.0; + out_5601961838873094342[48] = 0.0; + out_5601961838873094342[49] = 0.0; + out_5601961838873094342[50] = 1.0; + out_5601961838873094342[51] = 0.0; + out_5601961838873094342[52] = 0.0; + out_5601961838873094342[53] = 0.0; + out_5601961838873094342[54] = 0.0; + out_5601961838873094342[55] = 0.0; + out_5601961838873094342[56] = 0.0; + out_5601961838873094342[57] = 0.0; + out_5601961838873094342[58] = 0.0; + out_5601961838873094342[59] = 0.0; + out_5601961838873094342[60] = 1.0; + out_5601961838873094342[61] = 0.0; + out_5601961838873094342[62] = 0.0; + out_5601961838873094342[63] = 0.0; + out_5601961838873094342[64] = 0.0; + out_5601961838873094342[65] = 0.0; + out_5601961838873094342[66] = 0.0; + out_5601961838873094342[67] = 0.0; + out_5601961838873094342[68] = 0.0; + out_5601961838873094342[69] = 0.0; + out_5601961838873094342[70] = 1.0; + out_5601961838873094342[71] = 0.0; + out_5601961838873094342[72] = 0.0; + out_5601961838873094342[73] = 0.0; + out_5601961838873094342[74] = 0.0; + out_5601961838873094342[75] = 0.0; + out_5601961838873094342[76] = 0.0; + out_5601961838873094342[77] = 0.0; + out_5601961838873094342[78] = 0.0; + out_5601961838873094342[79] = 0.0; + out_5601961838873094342[80] = 1.0; } -void f_fun(double *state, double dt, double *out_6417706388998195307) { - out_6417706388998195307[0] = state[0]; - out_6417706388998195307[1] = state[1]; - out_6417706388998195307[2] = state[2]; - out_6417706388998195307[3] = state[3]; - out_6417706388998195307[4] = state[4]; - out_6417706388998195307[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_6417706388998195307[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_6417706388998195307[7] = state[7]; - out_6417706388998195307[8] = state[8]; +void f_fun(double *state, double dt, double *out_5149707672518823132) { + out_5149707672518823132[0] = state[0]; + out_5149707672518823132[1] = state[1]; + out_5149707672518823132[2] = state[2]; + out_5149707672518823132[3] = state[3]; + out_5149707672518823132[4] = state[4]; + out_5149707672518823132[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_5149707672518823132[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_5149707672518823132[7] = state[7]; + out_5149707672518823132[8] = state[8]; } -void F_fun(double *state, double dt, double *out_883841085229346789) { - out_883841085229346789[0] = 1; - out_883841085229346789[1] = 0; - out_883841085229346789[2] = 0; - out_883841085229346789[3] = 0; - out_883841085229346789[4] = 0; - out_883841085229346789[5] = 0; - out_883841085229346789[6] = 0; - out_883841085229346789[7] = 0; - out_883841085229346789[8] = 0; - out_883841085229346789[9] = 0; - out_883841085229346789[10] = 1; - out_883841085229346789[11] = 0; - out_883841085229346789[12] = 0; - out_883841085229346789[13] = 0; - out_883841085229346789[14] = 0; - out_883841085229346789[15] = 0; - out_883841085229346789[16] = 0; - out_883841085229346789[17] = 0; - out_883841085229346789[18] = 0; - out_883841085229346789[19] = 0; - out_883841085229346789[20] = 1; - out_883841085229346789[21] = 0; - out_883841085229346789[22] = 0; - out_883841085229346789[23] = 0; - out_883841085229346789[24] = 0; - out_883841085229346789[25] = 0; - out_883841085229346789[26] = 0; - out_883841085229346789[27] = 0; - out_883841085229346789[28] = 0; - out_883841085229346789[29] = 0; - out_883841085229346789[30] = 1; - out_883841085229346789[31] = 0; - out_883841085229346789[32] = 0; - out_883841085229346789[33] = 0; - out_883841085229346789[34] = 0; - out_883841085229346789[35] = 0; - out_883841085229346789[36] = 0; - out_883841085229346789[37] = 0; - out_883841085229346789[38] = 0; - out_883841085229346789[39] = 0; - out_883841085229346789[40] = 1; - out_883841085229346789[41] = 0; - out_883841085229346789[42] = 0; - out_883841085229346789[43] = 0; - out_883841085229346789[44] = 0; - out_883841085229346789[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_883841085229346789[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_883841085229346789[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_883841085229346789[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_883841085229346789[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_883841085229346789[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_883841085229346789[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_883841085229346789[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_883841085229346789[53] = -9.8100000000000005*dt; - out_883841085229346789[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_883841085229346789[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_883841085229346789[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_883841085229346789[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_883841085229346789[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_883841085229346789[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_883841085229346789[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_883841085229346789[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_883841085229346789[62] = 0; - out_883841085229346789[63] = 0; - out_883841085229346789[64] = 0; - out_883841085229346789[65] = 0; - out_883841085229346789[66] = 0; - out_883841085229346789[67] = 0; - out_883841085229346789[68] = 0; - out_883841085229346789[69] = 0; - out_883841085229346789[70] = 1; - out_883841085229346789[71] = 0; - out_883841085229346789[72] = 0; - out_883841085229346789[73] = 0; - out_883841085229346789[74] = 0; - out_883841085229346789[75] = 0; - out_883841085229346789[76] = 0; - out_883841085229346789[77] = 0; - out_883841085229346789[78] = 0; - out_883841085229346789[79] = 0; - out_883841085229346789[80] = 1; +void F_fun(double *state, double dt, double *out_6841526781584604245) { + out_6841526781584604245[0] = 1; + out_6841526781584604245[1] = 0; + out_6841526781584604245[2] = 0; + out_6841526781584604245[3] = 0; + out_6841526781584604245[4] = 0; + out_6841526781584604245[5] = 0; + out_6841526781584604245[6] = 0; + out_6841526781584604245[7] = 0; + out_6841526781584604245[8] = 0; + out_6841526781584604245[9] = 0; + out_6841526781584604245[10] = 1; + out_6841526781584604245[11] = 0; + out_6841526781584604245[12] = 0; + out_6841526781584604245[13] = 0; + out_6841526781584604245[14] = 0; + out_6841526781584604245[15] = 0; + out_6841526781584604245[16] = 0; + out_6841526781584604245[17] = 0; + out_6841526781584604245[18] = 0; + out_6841526781584604245[19] = 0; + out_6841526781584604245[20] = 1; + out_6841526781584604245[21] = 0; + out_6841526781584604245[22] = 0; + out_6841526781584604245[23] = 0; + out_6841526781584604245[24] = 0; + out_6841526781584604245[25] = 0; + out_6841526781584604245[26] = 0; + out_6841526781584604245[27] = 0; + out_6841526781584604245[28] = 0; + out_6841526781584604245[29] = 0; + out_6841526781584604245[30] = 1; + out_6841526781584604245[31] = 0; + out_6841526781584604245[32] = 0; + out_6841526781584604245[33] = 0; + out_6841526781584604245[34] = 0; + out_6841526781584604245[35] = 0; + out_6841526781584604245[36] = 0; + out_6841526781584604245[37] = 0; + out_6841526781584604245[38] = 0; + out_6841526781584604245[39] = 0; + out_6841526781584604245[40] = 1; + out_6841526781584604245[41] = 0; + out_6841526781584604245[42] = 0; + out_6841526781584604245[43] = 0; + out_6841526781584604245[44] = 0; + out_6841526781584604245[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_6841526781584604245[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6841526781584604245[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6841526781584604245[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6841526781584604245[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_6841526781584604245[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6841526781584604245[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6841526781584604245[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6841526781584604245[53] = -9.8100000000000005*dt; + out_6841526781584604245[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_6841526781584604245[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6841526781584604245[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6841526781584604245[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6841526781584604245[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_6841526781584604245[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6841526781584604245[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_6841526781584604245[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6841526781584604245[62] = 0; + out_6841526781584604245[63] = 0; + out_6841526781584604245[64] = 0; + out_6841526781584604245[65] = 0; + out_6841526781584604245[66] = 0; + out_6841526781584604245[67] = 0; + out_6841526781584604245[68] = 0; + out_6841526781584604245[69] = 0; + out_6841526781584604245[70] = 1; + out_6841526781584604245[71] = 0; + out_6841526781584604245[72] = 0; + out_6841526781584604245[73] = 0; + out_6841526781584604245[74] = 0; + out_6841526781584604245[75] = 0; + out_6841526781584604245[76] = 0; + out_6841526781584604245[77] = 0; + out_6841526781584604245[78] = 0; + out_6841526781584604245[79] = 0; + out_6841526781584604245[80] = 1; } -void h_25(double *state, double *unused, double *out_2855412773557287240) { - out_2855412773557287240[0] = state[6]; +void h_25(double *state, double *unused, double *out_7458155415496567305) { + out_7458155415496567305[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2557895202401032608) { - out_2557895202401032608[0] = 0; - out_2557895202401032608[1] = 0; - out_2557895202401032608[2] = 0; - out_2557895202401032608[3] = 0; - out_2557895202401032608[4] = 0; - out_2557895202401032608[5] = 0; - out_2557895202401032608[6] = 1; - out_2557895202401032608[7] = 0; - out_2557895202401032608[8] = 0; +void H_25(double *state, double *unused, double *out_698270013688429502) { + out_698270013688429502[0] = 0; + out_698270013688429502[1] = 0; + out_698270013688429502[2] = 0; + out_698270013688429502[3] = 0; + out_698270013688429502[4] = 0; + out_698270013688429502[5] = 0; + out_698270013688429502[6] = 1; + out_698270013688429502[7] = 0; + out_698270013688429502[8] = 0; } -void h_24(double *state, double *unused, double *out_8685899773420353243) { - out_8685899773420353243[0] = state[4]; - out_8685899773420353243[1] = state[5]; +void h_24(double *state, double *unused, double *out_8762756803592850260) { + out_8762756803592850260[0] = state[4]; + out_8762756803592850260[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1000030396401290528) { - out_1000030396401290528[0] = 0; - out_1000030396401290528[1] = 0; - out_1000030396401290528[2] = 0; - out_1000030396401290528[3] = 0; - out_1000030396401290528[4] = 1; - out_1000030396401290528[5] = 0; - out_1000030396401290528[6] = 0; - out_1000030396401290528[7] = 0; - out_1000030396401290528[8] = 0; - out_1000030396401290528[9] = 0; - out_1000030396401290528[10] = 0; - out_1000030396401290528[11] = 0; - out_1000030396401290528[12] = 0; - out_1000030396401290528[13] = 0; - out_1000030396401290528[14] = 1; - out_1000030396401290528[15] = 0; - out_1000030396401290528[16] = 0; - out_1000030396401290528[17] = 0; +void H_24(double *state, double *unused, double *out_2427133132865743571) { + out_2427133132865743571[0] = 0; + out_2427133132865743571[1] = 0; + out_2427133132865743571[2] = 0; + out_2427133132865743571[3] = 0; + out_2427133132865743571[4] = 1; + out_2427133132865743571[5] = 0; + out_2427133132865743571[6] = 0; + out_2427133132865743571[7] = 0; + out_2427133132865743571[8] = 0; + out_2427133132865743571[9] = 0; + out_2427133132865743571[10] = 0; + out_2427133132865743571[11] = 0; + out_2427133132865743571[12] = 0; + out_2427133132865743571[13] = 0; + out_2427133132865743571[14] = 1; + out_2427133132865743571[15] = 0; + out_2427133132865743571[16] = 0; + out_2427133132865743571[17] = 0; } -void h_30(double *state, double *unused, double *out_3732415152919007923) { - out_3732415152919007923[0] = state[4]; +void h_30(double *state, double *unused, double *out_434784079387956054) { + out_434784079387956054[0] = state[4]; } -void H_30(double *state, double *unused, double *out_4358795139090584147) { - out_4358795139090584147[0] = 0; - out_4358795139090584147[1] = 0; - out_4358795139090584147[2] = 0; - out_4358795139090584147[3] = 0; - out_4358795139090584147[4] = 1; - out_4358795139090584147[5] = 0; - out_4358795139090584147[6] = 0; - out_4358795139090584147[7] = 0; - out_4358795139090584147[8] = 0; +void H_30(double *state, double *unused, double *out_6218420327803187253) { + out_6218420327803187253[0] = 0; + out_6218420327803187253[1] = 0; + out_6218420327803187253[2] = 0; + out_6218420327803187253[3] = 0; + out_6218420327803187253[4] = 1; + out_6218420327803187253[5] = 0; + out_6218420327803187253[6] = 0; + out_6218420327803187253[7] = 0; + out_6218420327803187253[8] = 0; } -void h_26(double *state, double *unused, double *out_665536928362621089) { - out_665536928362621089[0] = state[7]; +void h_26(double *state, double *unused, double *out_8798712813018318160) { + out_8798712813018318160[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6299398521275088832) { - out_6299398521275088832[0] = 0; - out_6299398521275088832[1] = 0; - out_6299398521275088832[2] = 0; - out_6299398521275088832[3] = 0; - out_6299398521275088832[4] = 0; - out_6299398521275088832[5] = 0; - out_6299398521275088832[6] = 0; - out_6299398521275088832[7] = 1; - out_6299398521275088832[8] = 0; +void H_26(double *state, double *unused, double *out_4439773332562485726) { + out_4439773332562485726[0] = 0; + out_4439773332562485726[1] = 0; + out_4439773332562485726[2] = 0; + out_4439773332562485726[3] = 0; + out_4439773332562485726[4] = 0; + out_4439773332562485726[5] = 0; + out_4439773332562485726[6] = 0; + out_4439773332562485726[7] = 1; + out_4439773332562485726[8] = 0; } -void h_27(double *state, double *unused, double *out_3247106662175907150) { - out_3247106662175907150[0] = state[3]; +void h_27(double *state, double *unused, double *out_723267455973180046) { + out_723267455973180046[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2184031827290159236) { - out_2184031827290159236[0] = 0; - out_2184031827290159236[1] = 0; - out_2184031827290159236[2] = 0; - out_2184031827290159236[3] = 1; - out_2184031827290159236[4] = 0; - out_2184031827290159236[5] = 0; - out_2184031827290159236[6] = 0; - out_2184031827290159236[7] = 0; - out_2184031827290159236[8] = 0; +void H_27(double *state, double *unused, double *out_4043657016002762342) { + out_4043657016002762342[0] = 0; + out_4043657016002762342[1] = 0; + out_4043657016002762342[2] = 0; + out_4043657016002762342[3] = 1; + out_4043657016002762342[4] = 0; + out_4043657016002762342[5] = 0; + out_4043657016002762342[6] = 0; + out_4043657016002762342[7] = 0; + out_4043657016002762342[8] = 0; } -void h_29(double *state, double *unused, double *out_9044190215692984337) { - out_9044190215692984337[0] = state[1]; +void h_29(double *state, double *unused, double *out_4920797374511219811) { + out_4920797374511219811[0] = state[1]; } -void H_29(double *state, double *unused, double *out_470669100420608203) { - out_470669100420608203[0] = 0; - out_470669100420608203[1] = 1; - out_470669100420608203[2] = 0; - out_470669100420608203[3] = 0; - out_470669100420608203[4] = 0; - out_470669100420608203[5] = 0; - out_470669100420608203[6] = 0; - out_470669100420608203[7] = 0; - out_470669100420608203[8] = 0; +void H_29(double *state, double *unused, double *out_2330294289133211309) { + out_2330294289133211309[0] = 0; + out_2330294289133211309[1] = 1; + out_2330294289133211309[2] = 0; + out_2330294289133211309[3] = 0; + out_2330294289133211309[4] = 0; + out_2330294289133211309[5] = 0; + out_2330294289133211309[6] = 0; + out_2330294289133211309[7] = 0; + out_2330294289133211309[8] = 0; } -void h_28(double *state, double *unused, double *out_8248779929836752795) { - out_8248779929836752795[0] = state[0]; +void h_28(double *state, double *unused, double *out_3477859511150572185) { + out_3477859511150572185[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4611729916648922371) { - out_4611729916648922371[0] = 1; - out_4611729916648922371[1] = 0; - out_4611729916648922371[2] = 0; - out_4611729916648922371[3] = 0; - out_4611729916648922371[4] = 0; - out_4611729916648922371[5] = 0; - out_4611729916648922371[6] = 0; - out_4611729916648922371[7] = 0; - out_4611729916648922371[8] = 0; +void H_28(double *state, double *unused, double *out_2752104727936319265) { + out_2752104727936319265[0] = 1; + out_2752104727936319265[1] = 0; + out_2752104727936319265[2] = 0; + out_2752104727936319265[3] = 0; + out_2752104727936319265[4] = 0; + out_2752104727936319265[5] = 0; + out_2752104727936319265[6] = 0; + out_2752104727936319265[7] = 0; + out_2752104727936319265[8] = 0; } -void h_31(double *state, double *unused, double *out_6008698651335733946) { - out_6008698651335733946[0] = state[8]; +void h_31(double *state, double *unused, double *out_4217753431862633375) { + out_4217753431862633375[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2527249240524072180) { - out_2527249240524072180[0] = 0; - out_2527249240524072180[1] = 0; - out_2527249240524072180[2] = 0; - out_2527249240524072180[3] = 0; - out_2527249240524072180[4] = 0; - out_2527249240524072180[5] = 0; - out_2527249240524072180[6] = 0; - out_2527249240524072180[7] = 0; - out_2527249240524072180[8] = 1; +void H_31(double *state, double *unused, double *out_667624051811469074) { + out_667624051811469074[0] = 0; + out_667624051811469074[1] = 0; + out_667624051811469074[2] = 0; + out_667624051811469074[3] = 0; + out_667624051811469074[4] = 0; + out_667624051811469074[5] = 0; + out_667624051811469074[6] = 0; + out_667624051811469074[7] = 0; + out_667624051811469074[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_3114295045279175255) { - err_fun(nom_x, delta_x, out_3114295045279175255); +void car_err_fun(double *nom_x, double *delta_x, double *out_1981160884949189432) { + err_fun(nom_x, delta_x, out_1981160884949189432); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2774429114405664516) { - inv_err_fun(nom_x, true_x, out_2774429114405664516); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) { + inv_err_fun(nom_x, true_x, out_8847679371512298388); } -void car_H_mod_fun(double *state, double *out_6080875852390524285) { - H_mod_fun(state, out_6080875852390524285); +void car_H_mod_fun(double *state, double *out_5601961838873094342) { + H_mod_fun(state, out_5601961838873094342); } -void car_f_fun(double *state, double dt, double *out_6417706388998195307) { - f_fun(state, dt, out_6417706388998195307); +void car_f_fun(double *state, double dt, double *out_5149707672518823132) { + f_fun(state, dt, out_5149707672518823132); } -void car_F_fun(double *state, double dt, double *out_883841085229346789) { - F_fun(state, dt, out_883841085229346789); +void car_F_fun(double *state, double dt, double *out_6841526781584604245) { + F_fun(state, dt, out_6841526781584604245); } -void car_h_25(double *state, double *unused, double *out_2855412773557287240) { - h_25(state, unused, out_2855412773557287240); +void car_h_25(double *state, double *unused, double *out_7458155415496567305) { + h_25(state, unused, out_7458155415496567305); } -void car_H_25(double *state, double *unused, double *out_2557895202401032608) { - H_25(state, unused, out_2557895202401032608); +void car_H_25(double *state, double *unused, double *out_698270013688429502) { + H_25(state, unused, out_698270013688429502); } -void car_h_24(double *state, double *unused, double *out_8685899773420353243) { - h_24(state, unused, out_8685899773420353243); +void car_h_24(double *state, double *unused, double *out_8762756803592850260) { + h_24(state, unused, out_8762756803592850260); } -void car_H_24(double *state, double *unused, double *out_1000030396401290528) { - H_24(state, unused, out_1000030396401290528); +void car_H_24(double *state, double *unused, double *out_2427133132865743571) { + H_24(state, unused, out_2427133132865743571); } -void car_h_30(double *state, double *unused, double *out_3732415152919007923) { - h_30(state, unused, out_3732415152919007923); +void car_h_30(double *state, double *unused, double *out_434784079387956054) { + h_30(state, unused, out_434784079387956054); } -void car_H_30(double *state, double *unused, double *out_4358795139090584147) { - H_30(state, unused, out_4358795139090584147); +void car_H_30(double *state, double *unused, double *out_6218420327803187253) { + H_30(state, unused, out_6218420327803187253); } -void car_h_26(double *state, double *unused, double *out_665536928362621089) { - h_26(state, unused, out_665536928362621089); +void car_h_26(double *state, double *unused, double *out_8798712813018318160) { + h_26(state, unused, out_8798712813018318160); } -void car_H_26(double *state, double *unused, double *out_6299398521275088832) { - H_26(state, unused, out_6299398521275088832); +void car_H_26(double *state, double *unused, double *out_4439773332562485726) { + H_26(state, unused, out_4439773332562485726); } -void car_h_27(double *state, double *unused, double *out_3247106662175907150) { - h_27(state, unused, out_3247106662175907150); +void car_h_27(double *state, double *unused, double *out_723267455973180046) { + h_27(state, unused, out_723267455973180046); } -void car_H_27(double *state, double *unused, double *out_2184031827290159236) { - H_27(state, unused, out_2184031827290159236); +void car_H_27(double *state, double *unused, double *out_4043657016002762342) { + H_27(state, unused, out_4043657016002762342); } -void car_h_29(double *state, double *unused, double *out_9044190215692984337) { - h_29(state, unused, out_9044190215692984337); +void car_h_29(double *state, double *unused, double *out_4920797374511219811) { + h_29(state, unused, out_4920797374511219811); } -void car_H_29(double *state, double *unused, double *out_470669100420608203) { - H_29(state, unused, out_470669100420608203); +void car_H_29(double *state, double *unused, double *out_2330294289133211309) { + H_29(state, unused, out_2330294289133211309); } -void car_h_28(double *state, double *unused, double *out_8248779929836752795) { - h_28(state, unused, out_8248779929836752795); +void car_h_28(double *state, double *unused, double *out_3477859511150572185) { + h_28(state, unused, out_3477859511150572185); } -void car_H_28(double *state, double *unused, double *out_4611729916648922371) { - H_28(state, unused, out_4611729916648922371); +void car_H_28(double *state, double *unused, double *out_2752104727936319265) { + H_28(state, unused, out_2752104727936319265); } -void car_h_31(double *state, double *unused, double *out_6008698651335733946) { - h_31(state, unused, out_6008698651335733946); +void car_h_31(double *state, double *unused, double *out_4217753431862633375) { + h_31(state, unused, out_4217753431862633375); } -void car_H_31(double *state, double *unused, double *out_2527249240524072180) { - H_31(state, unused, out_2527249240524072180); +void car_H_31(double *state, double *unused, double *out_667624051811469074) { + H_31(state, unused, out_667624051811469074); } 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 ba5315733..8d1f86337 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_3114295045279175255); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2774429114405664516); -void car_H_mod_fun(double *state, double *out_6080875852390524285); -void car_f_fun(double *state, double dt, double *out_6417706388998195307); -void car_F_fun(double *state, double dt, double *out_883841085229346789); -void car_h_25(double *state, double *unused, double *out_2855412773557287240); -void car_H_25(double *state, double *unused, double *out_2557895202401032608); -void car_h_24(double *state, double *unused, double *out_8685899773420353243); -void car_H_24(double *state, double *unused, double *out_1000030396401290528); -void car_h_30(double *state, double *unused, double *out_3732415152919007923); -void car_H_30(double *state, double *unused, double *out_4358795139090584147); -void car_h_26(double *state, double *unused, double *out_665536928362621089); -void car_H_26(double *state, double *unused, double *out_6299398521275088832); -void car_h_27(double *state, double *unused, double *out_3247106662175907150); -void car_H_27(double *state, double *unused, double *out_2184031827290159236); -void car_h_29(double *state, double *unused, double *out_9044190215692984337); -void car_H_29(double *state, double *unused, double *out_470669100420608203); -void car_h_28(double *state, double *unused, double *out_8248779929836752795); -void car_H_28(double *state, double *unused, double *out_4611729916648922371); -void car_h_31(double *state, double *unused, double *out_6008698651335733946); -void car_H_31(double *state, double *unused, double *out_2527249240524072180); +void car_err_fun(double *nom_x, double *delta_x, double *out_1981160884949189432); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388); +void car_H_mod_fun(double *state, double *out_5601961838873094342); +void car_f_fun(double *state, double dt, double *out_5149707672518823132); +void car_F_fun(double *state, double dt, double *out_6841526781584604245); +void car_h_25(double *state, double *unused, double *out_7458155415496567305); +void car_H_25(double *state, double *unused, double *out_698270013688429502); +void car_h_24(double *state, double *unused, double *out_8762756803592850260); +void car_H_24(double *state, double *unused, double *out_2427133132865743571); +void car_h_30(double *state, double *unused, double *out_434784079387956054); +void car_H_30(double *state, double *unused, double *out_6218420327803187253); +void car_h_26(double *state, double *unused, double *out_8798712813018318160); +void car_H_26(double *state, double *unused, double *out_4439773332562485726); +void car_h_27(double *state, double *unused, double *out_723267455973180046); +void car_H_27(double *state, double *unused, double *out_4043657016002762342); +void car_h_29(double *state, double *unused, double *out_4920797374511219811); +void car_H_29(double *state, double *unused, double *out_2330294289133211309); +void car_h_28(double *state, double *unused, double *out_3477859511150572185); +void car_H_28(double *state, double *unused, double *out_2752104727936319265); +void car_h_31(double *state, double *unused, double *out_4217753431862633375); +void car_H_31(double *state, double *unused, double *out_667624051811469074); 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 bfa7bb6e4..8aed5865f 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_5206974560936582462) { - out_5206974560936582462[0] = delta_x[0] + nom_x[0]; - out_5206974560936582462[1] = delta_x[1] + nom_x[1]; - out_5206974560936582462[2] = delta_x[2] + nom_x[2]; - out_5206974560936582462[3] = delta_x[3] + nom_x[3]; - out_5206974560936582462[4] = delta_x[4] + nom_x[4]; - out_5206974560936582462[5] = delta_x[5] + nom_x[5]; - out_5206974560936582462[6] = delta_x[6] + nom_x[6]; - out_5206974560936582462[7] = delta_x[7] + nom_x[7]; - out_5206974560936582462[8] = delta_x[8] + nom_x[8]; - out_5206974560936582462[9] = delta_x[9] + nom_x[9]; - out_5206974560936582462[10] = delta_x[10] + nom_x[10]; - out_5206974560936582462[11] = delta_x[11] + nom_x[11]; - out_5206974560936582462[12] = delta_x[12] + nom_x[12]; - out_5206974560936582462[13] = delta_x[13] + nom_x[13]; - out_5206974560936582462[14] = delta_x[14] + nom_x[14]; - out_5206974560936582462[15] = delta_x[15] + nom_x[15]; - out_5206974560936582462[16] = delta_x[16] + nom_x[16]; - out_5206974560936582462[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8714848832990626554) { + out_8714848832990626554[0] = delta_x[0] + nom_x[0]; + out_8714848832990626554[1] = delta_x[1] + nom_x[1]; + out_8714848832990626554[2] = delta_x[2] + nom_x[2]; + out_8714848832990626554[3] = delta_x[3] + nom_x[3]; + out_8714848832990626554[4] = delta_x[4] + nom_x[4]; + out_8714848832990626554[5] = delta_x[5] + nom_x[5]; + out_8714848832990626554[6] = delta_x[6] + nom_x[6]; + out_8714848832990626554[7] = delta_x[7] + nom_x[7]; + out_8714848832990626554[8] = delta_x[8] + nom_x[8]; + out_8714848832990626554[9] = delta_x[9] + nom_x[9]; + out_8714848832990626554[10] = delta_x[10] + nom_x[10]; + out_8714848832990626554[11] = delta_x[11] + nom_x[11]; + out_8714848832990626554[12] = delta_x[12] + nom_x[12]; + out_8714848832990626554[13] = delta_x[13] + nom_x[13]; + out_8714848832990626554[14] = delta_x[14] + nom_x[14]; + out_8714848832990626554[15] = delta_x[15] + nom_x[15]; + out_8714848832990626554[16] = delta_x[16] + nom_x[16]; + out_8714848832990626554[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8580851081509816390) { - out_8580851081509816390[0] = -nom_x[0] + true_x[0]; - out_8580851081509816390[1] = -nom_x[1] + true_x[1]; - out_8580851081509816390[2] = -nom_x[2] + true_x[2]; - out_8580851081509816390[3] = -nom_x[3] + true_x[3]; - out_8580851081509816390[4] = -nom_x[4] + true_x[4]; - out_8580851081509816390[5] = -nom_x[5] + true_x[5]; - out_8580851081509816390[6] = -nom_x[6] + true_x[6]; - out_8580851081509816390[7] = -nom_x[7] + true_x[7]; - out_8580851081509816390[8] = -nom_x[8] + true_x[8]; - out_8580851081509816390[9] = -nom_x[9] + true_x[9]; - out_8580851081509816390[10] = -nom_x[10] + true_x[10]; - out_8580851081509816390[11] = -nom_x[11] + true_x[11]; - out_8580851081509816390[12] = -nom_x[12] + true_x[12]; - out_8580851081509816390[13] = -nom_x[13] + true_x[13]; - out_8580851081509816390[14] = -nom_x[14] + true_x[14]; - out_8580851081509816390[15] = -nom_x[15] + true_x[15]; - out_8580851081509816390[16] = -nom_x[16] + true_x[16]; - out_8580851081509816390[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5047671582975253903) { + out_5047671582975253903[0] = -nom_x[0] + true_x[0]; + out_5047671582975253903[1] = -nom_x[1] + true_x[1]; + out_5047671582975253903[2] = -nom_x[2] + true_x[2]; + out_5047671582975253903[3] = -nom_x[3] + true_x[3]; + out_5047671582975253903[4] = -nom_x[4] + true_x[4]; + out_5047671582975253903[5] = -nom_x[5] + true_x[5]; + out_5047671582975253903[6] = -nom_x[6] + true_x[6]; + out_5047671582975253903[7] = -nom_x[7] + true_x[7]; + out_5047671582975253903[8] = -nom_x[8] + true_x[8]; + out_5047671582975253903[9] = -nom_x[9] + true_x[9]; + out_5047671582975253903[10] = -nom_x[10] + true_x[10]; + out_5047671582975253903[11] = -nom_x[11] + true_x[11]; + out_5047671582975253903[12] = -nom_x[12] + true_x[12]; + out_5047671582975253903[13] = -nom_x[13] + true_x[13]; + out_5047671582975253903[14] = -nom_x[14] + true_x[14]; + out_5047671582975253903[15] = -nom_x[15] + true_x[15]; + out_5047671582975253903[16] = -nom_x[16] + true_x[16]; + out_5047671582975253903[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_310958725680718826) { - out_310958725680718826[0] = 1.0; - out_310958725680718826[1] = 0.0; - out_310958725680718826[2] = 0.0; - out_310958725680718826[3] = 0.0; - out_310958725680718826[4] = 0.0; - out_310958725680718826[5] = 0.0; - out_310958725680718826[6] = 0.0; - out_310958725680718826[7] = 0.0; - out_310958725680718826[8] = 0.0; - out_310958725680718826[9] = 0.0; - out_310958725680718826[10] = 0.0; - out_310958725680718826[11] = 0.0; - out_310958725680718826[12] = 0.0; - out_310958725680718826[13] = 0.0; - out_310958725680718826[14] = 0.0; - out_310958725680718826[15] = 0.0; - out_310958725680718826[16] = 0.0; - out_310958725680718826[17] = 0.0; - out_310958725680718826[18] = 0.0; - out_310958725680718826[19] = 1.0; - out_310958725680718826[20] = 0.0; - out_310958725680718826[21] = 0.0; - out_310958725680718826[22] = 0.0; - out_310958725680718826[23] = 0.0; - out_310958725680718826[24] = 0.0; - out_310958725680718826[25] = 0.0; - out_310958725680718826[26] = 0.0; - out_310958725680718826[27] = 0.0; - out_310958725680718826[28] = 0.0; - out_310958725680718826[29] = 0.0; - out_310958725680718826[30] = 0.0; - out_310958725680718826[31] = 0.0; - out_310958725680718826[32] = 0.0; - out_310958725680718826[33] = 0.0; - out_310958725680718826[34] = 0.0; - out_310958725680718826[35] = 0.0; - out_310958725680718826[36] = 0.0; - out_310958725680718826[37] = 0.0; - out_310958725680718826[38] = 1.0; - out_310958725680718826[39] = 0.0; - out_310958725680718826[40] = 0.0; - out_310958725680718826[41] = 0.0; - out_310958725680718826[42] = 0.0; - out_310958725680718826[43] = 0.0; - out_310958725680718826[44] = 0.0; - out_310958725680718826[45] = 0.0; - out_310958725680718826[46] = 0.0; - out_310958725680718826[47] = 0.0; - out_310958725680718826[48] = 0.0; - out_310958725680718826[49] = 0.0; - out_310958725680718826[50] = 0.0; - out_310958725680718826[51] = 0.0; - out_310958725680718826[52] = 0.0; - out_310958725680718826[53] = 0.0; - out_310958725680718826[54] = 0.0; - out_310958725680718826[55] = 0.0; - out_310958725680718826[56] = 0.0; - out_310958725680718826[57] = 1.0; - out_310958725680718826[58] = 0.0; - out_310958725680718826[59] = 0.0; - out_310958725680718826[60] = 0.0; - out_310958725680718826[61] = 0.0; - out_310958725680718826[62] = 0.0; - out_310958725680718826[63] = 0.0; - out_310958725680718826[64] = 0.0; - out_310958725680718826[65] = 0.0; - out_310958725680718826[66] = 0.0; - out_310958725680718826[67] = 0.0; - out_310958725680718826[68] = 0.0; - out_310958725680718826[69] = 0.0; - out_310958725680718826[70] = 0.0; - out_310958725680718826[71] = 0.0; - out_310958725680718826[72] = 0.0; - out_310958725680718826[73] = 0.0; - out_310958725680718826[74] = 0.0; - out_310958725680718826[75] = 0.0; - out_310958725680718826[76] = 1.0; - out_310958725680718826[77] = 0.0; - out_310958725680718826[78] = 0.0; - out_310958725680718826[79] = 0.0; - out_310958725680718826[80] = 0.0; - out_310958725680718826[81] = 0.0; - out_310958725680718826[82] = 0.0; - out_310958725680718826[83] = 0.0; - out_310958725680718826[84] = 0.0; - out_310958725680718826[85] = 0.0; - out_310958725680718826[86] = 0.0; - out_310958725680718826[87] = 0.0; - out_310958725680718826[88] = 0.0; - out_310958725680718826[89] = 0.0; - out_310958725680718826[90] = 0.0; - out_310958725680718826[91] = 0.0; - out_310958725680718826[92] = 0.0; - out_310958725680718826[93] = 0.0; - out_310958725680718826[94] = 0.0; - out_310958725680718826[95] = 1.0; - out_310958725680718826[96] = 0.0; - out_310958725680718826[97] = 0.0; - out_310958725680718826[98] = 0.0; - out_310958725680718826[99] = 0.0; - out_310958725680718826[100] = 0.0; - out_310958725680718826[101] = 0.0; - out_310958725680718826[102] = 0.0; - out_310958725680718826[103] = 0.0; - out_310958725680718826[104] = 0.0; - out_310958725680718826[105] = 0.0; - out_310958725680718826[106] = 0.0; - out_310958725680718826[107] = 0.0; - out_310958725680718826[108] = 0.0; - out_310958725680718826[109] = 0.0; - out_310958725680718826[110] = 0.0; - out_310958725680718826[111] = 0.0; - out_310958725680718826[112] = 0.0; - out_310958725680718826[113] = 0.0; - out_310958725680718826[114] = 1.0; - out_310958725680718826[115] = 0.0; - out_310958725680718826[116] = 0.0; - out_310958725680718826[117] = 0.0; - out_310958725680718826[118] = 0.0; - out_310958725680718826[119] = 0.0; - out_310958725680718826[120] = 0.0; - out_310958725680718826[121] = 0.0; - out_310958725680718826[122] = 0.0; - out_310958725680718826[123] = 0.0; - out_310958725680718826[124] = 0.0; - out_310958725680718826[125] = 0.0; - out_310958725680718826[126] = 0.0; - out_310958725680718826[127] = 0.0; - out_310958725680718826[128] = 0.0; - out_310958725680718826[129] = 0.0; - out_310958725680718826[130] = 0.0; - out_310958725680718826[131] = 0.0; - out_310958725680718826[132] = 0.0; - out_310958725680718826[133] = 1.0; - out_310958725680718826[134] = 0.0; - out_310958725680718826[135] = 0.0; - out_310958725680718826[136] = 0.0; - out_310958725680718826[137] = 0.0; - out_310958725680718826[138] = 0.0; - out_310958725680718826[139] = 0.0; - out_310958725680718826[140] = 0.0; - out_310958725680718826[141] = 0.0; - out_310958725680718826[142] = 0.0; - out_310958725680718826[143] = 0.0; - out_310958725680718826[144] = 0.0; - out_310958725680718826[145] = 0.0; - out_310958725680718826[146] = 0.0; - out_310958725680718826[147] = 0.0; - out_310958725680718826[148] = 0.0; - out_310958725680718826[149] = 0.0; - out_310958725680718826[150] = 0.0; - out_310958725680718826[151] = 0.0; - out_310958725680718826[152] = 1.0; - out_310958725680718826[153] = 0.0; - out_310958725680718826[154] = 0.0; - out_310958725680718826[155] = 0.0; - out_310958725680718826[156] = 0.0; - out_310958725680718826[157] = 0.0; - out_310958725680718826[158] = 0.0; - out_310958725680718826[159] = 0.0; - out_310958725680718826[160] = 0.0; - out_310958725680718826[161] = 0.0; - out_310958725680718826[162] = 0.0; - out_310958725680718826[163] = 0.0; - out_310958725680718826[164] = 0.0; - out_310958725680718826[165] = 0.0; - out_310958725680718826[166] = 0.0; - out_310958725680718826[167] = 0.0; - out_310958725680718826[168] = 0.0; - out_310958725680718826[169] = 0.0; - out_310958725680718826[170] = 0.0; - out_310958725680718826[171] = 1.0; - out_310958725680718826[172] = 0.0; - out_310958725680718826[173] = 0.0; - out_310958725680718826[174] = 0.0; - out_310958725680718826[175] = 0.0; - out_310958725680718826[176] = 0.0; - out_310958725680718826[177] = 0.0; - out_310958725680718826[178] = 0.0; - out_310958725680718826[179] = 0.0; - out_310958725680718826[180] = 0.0; - out_310958725680718826[181] = 0.0; - out_310958725680718826[182] = 0.0; - out_310958725680718826[183] = 0.0; - out_310958725680718826[184] = 0.0; - out_310958725680718826[185] = 0.0; - out_310958725680718826[186] = 0.0; - out_310958725680718826[187] = 0.0; - out_310958725680718826[188] = 0.0; - out_310958725680718826[189] = 0.0; - out_310958725680718826[190] = 1.0; - out_310958725680718826[191] = 0.0; - out_310958725680718826[192] = 0.0; - out_310958725680718826[193] = 0.0; - out_310958725680718826[194] = 0.0; - out_310958725680718826[195] = 0.0; - out_310958725680718826[196] = 0.0; - out_310958725680718826[197] = 0.0; - out_310958725680718826[198] = 0.0; - out_310958725680718826[199] = 0.0; - out_310958725680718826[200] = 0.0; - out_310958725680718826[201] = 0.0; - out_310958725680718826[202] = 0.0; - out_310958725680718826[203] = 0.0; - out_310958725680718826[204] = 0.0; - out_310958725680718826[205] = 0.0; - out_310958725680718826[206] = 0.0; - out_310958725680718826[207] = 0.0; - out_310958725680718826[208] = 0.0; - out_310958725680718826[209] = 1.0; - out_310958725680718826[210] = 0.0; - out_310958725680718826[211] = 0.0; - out_310958725680718826[212] = 0.0; - out_310958725680718826[213] = 0.0; - out_310958725680718826[214] = 0.0; - out_310958725680718826[215] = 0.0; - out_310958725680718826[216] = 0.0; - out_310958725680718826[217] = 0.0; - out_310958725680718826[218] = 0.0; - out_310958725680718826[219] = 0.0; - out_310958725680718826[220] = 0.0; - out_310958725680718826[221] = 0.0; - out_310958725680718826[222] = 0.0; - out_310958725680718826[223] = 0.0; - out_310958725680718826[224] = 0.0; - out_310958725680718826[225] = 0.0; - out_310958725680718826[226] = 0.0; - out_310958725680718826[227] = 0.0; - out_310958725680718826[228] = 1.0; - out_310958725680718826[229] = 0.0; - out_310958725680718826[230] = 0.0; - out_310958725680718826[231] = 0.0; - out_310958725680718826[232] = 0.0; - out_310958725680718826[233] = 0.0; - out_310958725680718826[234] = 0.0; - out_310958725680718826[235] = 0.0; - out_310958725680718826[236] = 0.0; - out_310958725680718826[237] = 0.0; - out_310958725680718826[238] = 0.0; - out_310958725680718826[239] = 0.0; - out_310958725680718826[240] = 0.0; - out_310958725680718826[241] = 0.0; - out_310958725680718826[242] = 0.0; - out_310958725680718826[243] = 0.0; - out_310958725680718826[244] = 0.0; - out_310958725680718826[245] = 0.0; - out_310958725680718826[246] = 0.0; - out_310958725680718826[247] = 1.0; - out_310958725680718826[248] = 0.0; - out_310958725680718826[249] = 0.0; - out_310958725680718826[250] = 0.0; - out_310958725680718826[251] = 0.0; - out_310958725680718826[252] = 0.0; - out_310958725680718826[253] = 0.0; - out_310958725680718826[254] = 0.0; - out_310958725680718826[255] = 0.0; - out_310958725680718826[256] = 0.0; - out_310958725680718826[257] = 0.0; - out_310958725680718826[258] = 0.0; - out_310958725680718826[259] = 0.0; - out_310958725680718826[260] = 0.0; - out_310958725680718826[261] = 0.0; - out_310958725680718826[262] = 0.0; - out_310958725680718826[263] = 0.0; - out_310958725680718826[264] = 0.0; - out_310958725680718826[265] = 0.0; - out_310958725680718826[266] = 1.0; - out_310958725680718826[267] = 0.0; - out_310958725680718826[268] = 0.0; - out_310958725680718826[269] = 0.0; - out_310958725680718826[270] = 0.0; - out_310958725680718826[271] = 0.0; - out_310958725680718826[272] = 0.0; - out_310958725680718826[273] = 0.0; - out_310958725680718826[274] = 0.0; - out_310958725680718826[275] = 0.0; - out_310958725680718826[276] = 0.0; - out_310958725680718826[277] = 0.0; - out_310958725680718826[278] = 0.0; - out_310958725680718826[279] = 0.0; - out_310958725680718826[280] = 0.0; - out_310958725680718826[281] = 0.0; - out_310958725680718826[282] = 0.0; - out_310958725680718826[283] = 0.0; - out_310958725680718826[284] = 0.0; - out_310958725680718826[285] = 1.0; - out_310958725680718826[286] = 0.0; - out_310958725680718826[287] = 0.0; - out_310958725680718826[288] = 0.0; - out_310958725680718826[289] = 0.0; - out_310958725680718826[290] = 0.0; - out_310958725680718826[291] = 0.0; - out_310958725680718826[292] = 0.0; - out_310958725680718826[293] = 0.0; - out_310958725680718826[294] = 0.0; - out_310958725680718826[295] = 0.0; - out_310958725680718826[296] = 0.0; - out_310958725680718826[297] = 0.0; - out_310958725680718826[298] = 0.0; - out_310958725680718826[299] = 0.0; - out_310958725680718826[300] = 0.0; - out_310958725680718826[301] = 0.0; - out_310958725680718826[302] = 0.0; - out_310958725680718826[303] = 0.0; - out_310958725680718826[304] = 1.0; - out_310958725680718826[305] = 0.0; - out_310958725680718826[306] = 0.0; - out_310958725680718826[307] = 0.0; - out_310958725680718826[308] = 0.0; - out_310958725680718826[309] = 0.0; - out_310958725680718826[310] = 0.0; - out_310958725680718826[311] = 0.0; - out_310958725680718826[312] = 0.0; - out_310958725680718826[313] = 0.0; - out_310958725680718826[314] = 0.0; - out_310958725680718826[315] = 0.0; - out_310958725680718826[316] = 0.0; - out_310958725680718826[317] = 0.0; - out_310958725680718826[318] = 0.0; - out_310958725680718826[319] = 0.0; - out_310958725680718826[320] = 0.0; - out_310958725680718826[321] = 0.0; - out_310958725680718826[322] = 0.0; - out_310958725680718826[323] = 1.0; +void H_mod_fun(double *state, double *out_1709250979764021582) { + out_1709250979764021582[0] = 1.0; + out_1709250979764021582[1] = 0.0; + out_1709250979764021582[2] = 0.0; + out_1709250979764021582[3] = 0.0; + out_1709250979764021582[4] = 0.0; + out_1709250979764021582[5] = 0.0; + out_1709250979764021582[6] = 0.0; + out_1709250979764021582[7] = 0.0; + out_1709250979764021582[8] = 0.0; + out_1709250979764021582[9] = 0.0; + out_1709250979764021582[10] = 0.0; + out_1709250979764021582[11] = 0.0; + out_1709250979764021582[12] = 0.0; + out_1709250979764021582[13] = 0.0; + out_1709250979764021582[14] = 0.0; + out_1709250979764021582[15] = 0.0; + out_1709250979764021582[16] = 0.0; + out_1709250979764021582[17] = 0.0; + out_1709250979764021582[18] = 0.0; + out_1709250979764021582[19] = 1.0; + out_1709250979764021582[20] = 0.0; + out_1709250979764021582[21] = 0.0; + out_1709250979764021582[22] = 0.0; + out_1709250979764021582[23] = 0.0; + out_1709250979764021582[24] = 0.0; + out_1709250979764021582[25] = 0.0; + out_1709250979764021582[26] = 0.0; + out_1709250979764021582[27] = 0.0; + out_1709250979764021582[28] = 0.0; + out_1709250979764021582[29] = 0.0; + out_1709250979764021582[30] = 0.0; + out_1709250979764021582[31] = 0.0; + out_1709250979764021582[32] = 0.0; + out_1709250979764021582[33] = 0.0; + out_1709250979764021582[34] = 0.0; + out_1709250979764021582[35] = 0.0; + out_1709250979764021582[36] = 0.0; + out_1709250979764021582[37] = 0.0; + out_1709250979764021582[38] = 1.0; + out_1709250979764021582[39] = 0.0; + out_1709250979764021582[40] = 0.0; + out_1709250979764021582[41] = 0.0; + out_1709250979764021582[42] = 0.0; + out_1709250979764021582[43] = 0.0; + out_1709250979764021582[44] = 0.0; + out_1709250979764021582[45] = 0.0; + out_1709250979764021582[46] = 0.0; + out_1709250979764021582[47] = 0.0; + out_1709250979764021582[48] = 0.0; + out_1709250979764021582[49] = 0.0; + out_1709250979764021582[50] = 0.0; + out_1709250979764021582[51] = 0.0; + out_1709250979764021582[52] = 0.0; + out_1709250979764021582[53] = 0.0; + out_1709250979764021582[54] = 0.0; + out_1709250979764021582[55] = 0.0; + out_1709250979764021582[56] = 0.0; + out_1709250979764021582[57] = 1.0; + out_1709250979764021582[58] = 0.0; + out_1709250979764021582[59] = 0.0; + out_1709250979764021582[60] = 0.0; + out_1709250979764021582[61] = 0.0; + out_1709250979764021582[62] = 0.0; + out_1709250979764021582[63] = 0.0; + out_1709250979764021582[64] = 0.0; + out_1709250979764021582[65] = 0.0; + out_1709250979764021582[66] = 0.0; + out_1709250979764021582[67] = 0.0; + out_1709250979764021582[68] = 0.0; + out_1709250979764021582[69] = 0.0; + out_1709250979764021582[70] = 0.0; + out_1709250979764021582[71] = 0.0; + out_1709250979764021582[72] = 0.0; + out_1709250979764021582[73] = 0.0; + out_1709250979764021582[74] = 0.0; + out_1709250979764021582[75] = 0.0; + out_1709250979764021582[76] = 1.0; + out_1709250979764021582[77] = 0.0; + out_1709250979764021582[78] = 0.0; + out_1709250979764021582[79] = 0.0; + out_1709250979764021582[80] = 0.0; + out_1709250979764021582[81] = 0.0; + out_1709250979764021582[82] = 0.0; + out_1709250979764021582[83] = 0.0; + out_1709250979764021582[84] = 0.0; + out_1709250979764021582[85] = 0.0; + out_1709250979764021582[86] = 0.0; + out_1709250979764021582[87] = 0.0; + out_1709250979764021582[88] = 0.0; + out_1709250979764021582[89] = 0.0; + out_1709250979764021582[90] = 0.0; + out_1709250979764021582[91] = 0.0; + out_1709250979764021582[92] = 0.0; + out_1709250979764021582[93] = 0.0; + out_1709250979764021582[94] = 0.0; + out_1709250979764021582[95] = 1.0; + out_1709250979764021582[96] = 0.0; + out_1709250979764021582[97] = 0.0; + out_1709250979764021582[98] = 0.0; + out_1709250979764021582[99] = 0.0; + out_1709250979764021582[100] = 0.0; + out_1709250979764021582[101] = 0.0; + out_1709250979764021582[102] = 0.0; + out_1709250979764021582[103] = 0.0; + out_1709250979764021582[104] = 0.0; + out_1709250979764021582[105] = 0.0; + out_1709250979764021582[106] = 0.0; + out_1709250979764021582[107] = 0.0; + out_1709250979764021582[108] = 0.0; + out_1709250979764021582[109] = 0.0; + out_1709250979764021582[110] = 0.0; + out_1709250979764021582[111] = 0.0; + out_1709250979764021582[112] = 0.0; + out_1709250979764021582[113] = 0.0; + out_1709250979764021582[114] = 1.0; + out_1709250979764021582[115] = 0.0; + out_1709250979764021582[116] = 0.0; + out_1709250979764021582[117] = 0.0; + out_1709250979764021582[118] = 0.0; + out_1709250979764021582[119] = 0.0; + out_1709250979764021582[120] = 0.0; + out_1709250979764021582[121] = 0.0; + out_1709250979764021582[122] = 0.0; + out_1709250979764021582[123] = 0.0; + out_1709250979764021582[124] = 0.0; + out_1709250979764021582[125] = 0.0; + out_1709250979764021582[126] = 0.0; + out_1709250979764021582[127] = 0.0; + out_1709250979764021582[128] = 0.0; + out_1709250979764021582[129] = 0.0; + out_1709250979764021582[130] = 0.0; + out_1709250979764021582[131] = 0.0; + out_1709250979764021582[132] = 0.0; + out_1709250979764021582[133] = 1.0; + out_1709250979764021582[134] = 0.0; + out_1709250979764021582[135] = 0.0; + out_1709250979764021582[136] = 0.0; + out_1709250979764021582[137] = 0.0; + out_1709250979764021582[138] = 0.0; + out_1709250979764021582[139] = 0.0; + out_1709250979764021582[140] = 0.0; + out_1709250979764021582[141] = 0.0; + out_1709250979764021582[142] = 0.0; + out_1709250979764021582[143] = 0.0; + out_1709250979764021582[144] = 0.0; + out_1709250979764021582[145] = 0.0; + out_1709250979764021582[146] = 0.0; + out_1709250979764021582[147] = 0.0; + out_1709250979764021582[148] = 0.0; + out_1709250979764021582[149] = 0.0; + out_1709250979764021582[150] = 0.0; + out_1709250979764021582[151] = 0.0; + out_1709250979764021582[152] = 1.0; + out_1709250979764021582[153] = 0.0; + out_1709250979764021582[154] = 0.0; + out_1709250979764021582[155] = 0.0; + out_1709250979764021582[156] = 0.0; + out_1709250979764021582[157] = 0.0; + out_1709250979764021582[158] = 0.0; + out_1709250979764021582[159] = 0.0; + out_1709250979764021582[160] = 0.0; + out_1709250979764021582[161] = 0.0; + out_1709250979764021582[162] = 0.0; + out_1709250979764021582[163] = 0.0; + out_1709250979764021582[164] = 0.0; + out_1709250979764021582[165] = 0.0; + out_1709250979764021582[166] = 0.0; + out_1709250979764021582[167] = 0.0; + out_1709250979764021582[168] = 0.0; + out_1709250979764021582[169] = 0.0; + out_1709250979764021582[170] = 0.0; + out_1709250979764021582[171] = 1.0; + out_1709250979764021582[172] = 0.0; + out_1709250979764021582[173] = 0.0; + out_1709250979764021582[174] = 0.0; + out_1709250979764021582[175] = 0.0; + out_1709250979764021582[176] = 0.0; + out_1709250979764021582[177] = 0.0; + out_1709250979764021582[178] = 0.0; + out_1709250979764021582[179] = 0.0; + out_1709250979764021582[180] = 0.0; + out_1709250979764021582[181] = 0.0; + out_1709250979764021582[182] = 0.0; + out_1709250979764021582[183] = 0.0; + out_1709250979764021582[184] = 0.0; + out_1709250979764021582[185] = 0.0; + out_1709250979764021582[186] = 0.0; + out_1709250979764021582[187] = 0.0; + out_1709250979764021582[188] = 0.0; + out_1709250979764021582[189] = 0.0; + out_1709250979764021582[190] = 1.0; + out_1709250979764021582[191] = 0.0; + out_1709250979764021582[192] = 0.0; + out_1709250979764021582[193] = 0.0; + out_1709250979764021582[194] = 0.0; + out_1709250979764021582[195] = 0.0; + out_1709250979764021582[196] = 0.0; + out_1709250979764021582[197] = 0.0; + out_1709250979764021582[198] = 0.0; + out_1709250979764021582[199] = 0.0; + out_1709250979764021582[200] = 0.0; + out_1709250979764021582[201] = 0.0; + out_1709250979764021582[202] = 0.0; + out_1709250979764021582[203] = 0.0; + out_1709250979764021582[204] = 0.0; + out_1709250979764021582[205] = 0.0; + out_1709250979764021582[206] = 0.0; + out_1709250979764021582[207] = 0.0; + out_1709250979764021582[208] = 0.0; + out_1709250979764021582[209] = 1.0; + out_1709250979764021582[210] = 0.0; + out_1709250979764021582[211] = 0.0; + out_1709250979764021582[212] = 0.0; + out_1709250979764021582[213] = 0.0; + out_1709250979764021582[214] = 0.0; + out_1709250979764021582[215] = 0.0; + out_1709250979764021582[216] = 0.0; + out_1709250979764021582[217] = 0.0; + out_1709250979764021582[218] = 0.0; + out_1709250979764021582[219] = 0.0; + out_1709250979764021582[220] = 0.0; + out_1709250979764021582[221] = 0.0; + out_1709250979764021582[222] = 0.0; + out_1709250979764021582[223] = 0.0; + out_1709250979764021582[224] = 0.0; + out_1709250979764021582[225] = 0.0; + out_1709250979764021582[226] = 0.0; + out_1709250979764021582[227] = 0.0; + out_1709250979764021582[228] = 1.0; + out_1709250979764021582[229] = 0.0; + out_1709250979764021582[230] = 0.0; + out_1709250979764021582[231] = 0.0; + out_1709250979764021582[232] = 0.0; + out_1709250979764021582[233] = 0.0; + out_1709250979764021582[234] = 0.0; + out_1709250979764021582[235] = 0.0; + out_1709250979764021582[236] = 0.0; + out_1709250979764021582[237] = 0.0; + out_1709250979764021582[238] = 0.0; + out_1709250979764021582[239] = 0.0; + out_1709250979764021582[240] = 0.0; + out_1709250979764021582[241] = 0.0; + out_1709250979764021582[242] = 0.0; + out_1709250979764021582[243] = 0.0; + out_1709250979764021582[244] = 0.0; + out_1709250979764021582[245] = 0.0; + out_1709250979764021582[246] = 0.0; + out_1709250979764021582[247] = 1.0; + out_1709250979764021582[248] = 0.0; + out_1709250979764021582[249] = 0.0; + out_1709250979764021582[250] = 0.0; + out_1709250979764021582[251] = 0.0; + out_1709250979764021582[252] = 0.0; + out_1709250979764021582[253] = 0.0; + out_1709250979764021582[254] = 0.0; + out_1709250979764021582[255] = 0.0; + out_1709250979764021582[256] = 0.0; + out_1709250979764021582[257] = 0.0; + out_1709250979764021582[258] = 0.0; + out_1709250979764021582[259] = 0.0; + out_1709250979764021582[260] = 0.0; + out_1709250979764021582[261] = 0.0; + out_1709250979764021582[262] = 0.0; + out_1709250979764021582[263] = 0.0; + out_1709250979764021582[264] = 0.0; + out_1709250979764021582[265] = 0.0; + out_1709250979764021582[266] = 1.0; + out_1709250979764021582[267] = 0.0; + out_1709250979764021582[268] = 0.0; + out_1709250979764021582[269] = 0.0; + out_1709250979764021582[270] = 0.0; + out_1709250979764021582[271] = 0.0; + out_1709250979764021582[272] = 0.0; + out_1709250979764021582[273] = 0.0; + out_1709250979764021582[274] = 0.0; + out_1709250979764021582[275] = 0.0; + out_1709250979764021582[276] = 0.0; + out_1709250979764021582[277] = 0.0; + out_1709250979764021582[278] = 0.0; + out_1709250979764021582[279] = 0.0; + out_1709250979764021582[280] = 0.0; + out_1709250979764021582[281] = 0.0; + out_1709250979764021582[282] = 0.0; + out_1709250979764021582[283] = 0.0; + out_1709250979764021582[284] = 0.0; + out_1709250979764021582[285] = 1.0; + out_1709250979764021582[286] = 0.0; + out_1709250979764021582[287] = 0.0; + out_1709250979764021582[288] = 0.0; + out_1709250979764021582[289] = 0.0; + out_1709250979764021582[290] = 0.0; + out_1709250979764021582[291] = 0.0; + out_1709250979764021582[292] = 0.0; + out_1709250979764021582[293] = 0.0; + out_1709250979764021582[294] = 0.0; + out_1709250979764021582[295] = 0.0; + out_1709250979764021582[296] = 0.0; + out_1709250979764021582[297] = 0.0; + out_1709250979764021582[298] = 0.0; + out_1709250979764021582[299] = 0.0; + out_1709250979764021582[300] = 0.0; + out_1709250979764021582[301] = 0.0; + out_1709250979764021582[302] = 0.0; + out_1709250979764021582[303] = 0.0; + out_1709250979764021582[304] = 1.0; + out_1709250979764021582[305] = 0.0; + out_1709250979764021582[306] = 0.0; + out_1709250979764021582[307] = 0.0; + out_1709250979764021582[308] = 0.0; + out_1709250979764021582[309] = 0.0; + out_1709250979764021582[310] = 0.0; + out_1709250979764021582[311] = 0.0; + out_1709250979764021582[312] = 0.0; + out_1709250979764021582[313] = 0.0; + out_1709250979764021582[314] = 0.0; + out_1709250979764021582[315] = 0.0; + out_1709250979764021582[316] = 0.0; + out_1709250979764021582[317] = 0.0; + out_1709250979764021582[318] = 0.0; + out_1709250979764021582[319] = 0.0; + out_1709250979764021582[320] = 0.0; + out_1709250979764021582[321] = 0.0; + out_1709250979764021582[322] = 0.0; + out_1709250979764021582[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8333876756213369009) { - out_8333876756213369009[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_8333876756213369009[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_8333876756213369009[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_8333876756213369009[3] = dt*state[12] + state[3]; - out_8333876756213369009[4] = dt*state[13] + state[4]; - out_8333876756213369009[5] = dt*state[14] + state[5]; - out_8333876756213369009[6] = state[6]; - out_8333876756213369009[7] = state[7]; - out_8333876756213369009[8] = state[8]; - out_8333876756213369009[9] = state[9]; - out_8333876756213369009[10] = state[10]; - out_8333876756213369009[11] = state[11]; - out_8333876756213369009[12] = state[12]; - out_8333876756213369009[13] = state[13]; - out_8333876756213369009[14] = state[14]; - out_8333876756213369009[15] = state[15]; - out_8333876756213369009[16] = state[16]; - out_8333876756213369009[17] = state[17]; +void f_fun(double *state, double dt, double *out_1316099113648689196) { + out_1316099113648689196[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_1316099113648689196[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_1316099113648689196[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_1316099113648689196[3] = dt*state[12] + state[3]; + out_1316099113648689196[4] = dt*state[13] + state[4]; + out_1316099113648689196[5] = dt*state[14] + state[5]; + out_1316099113648689196[6] = state[6]; + out_1316099113648689196[7] = state[7]; + out_1316099113648689196[8] = state[8]; + out_1316099113648689196[9] = state[9]; + out_1316099113648689196[10] = state[10]; + out_1316099113648689196[11] = state[11]; + out_1316099113648689196[12] = state[12]; + out_1316099113648689196[13] = state[13]; + out_1316099113648689196[14] = state[14]; + out_1316099113648689196[15] = state[15]; + out_1316099113648689196[16] = state[16]; + out_1316099113648689196[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8736875160637463263) { - out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[2] = 0; - out_8736875160637463263[3] = 0; - out_8736875160637463263[4] = 0; - out_8736875160637463263[5] = 0; - out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[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_8736875160637463263[9] = 0; - out_8736875160637463263[10] = 0; - out_8736875160637463263[11] = 0; - out_8736875160637463263[12] = 0; - out_8736875160637463263[13] = 0; - out_8736875160637463263[14] = 0; - out_8736875160637463263[15] = 0; - out_8736875160637463263[16] = 0; - out_8736875160637463263[17] = 0; - out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[20] = 0; - out_8736875160637463263[21] = 0; - out_8736875160637463263[22] = 0; - out_8736875160637463263[23] = 0; - out_8736875160637463263[24] = 0; - out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[27] = 0; - out_8736875160637463263[28] = 0; - out_8736875160637463263[29] = 0; - out_8736875160637463263[30] = 0; - out_8736875160637463263[31] = 0; - out_8736875160637463263[32] = 0; - out_8736875160637463263[33] = 0; - out_8736875160637463263[34] = 0; - out_8736875160637463263[35] = 0; - out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[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_8736875160637463263[39] = 0; - out_8736875160637463263[40] = 0; - out_8736875160637463263[41] = 0; - out_8736875160637463263[42] = 0; - out_8736875160637463263[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_8736875160637463263[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_8736875160637463263[45] = 0; - out_8736875160637463263[46] = 0; - out_8736875160637463263[47] = 0; - out_8736875160637463263[48] = 0; - out_8736875160637463263[49] = 0; - out_8736875160637463263[50] = 0; - out_8736875160637463263[51] = 0; - out_8736875160637463263[52] = 0; - out_8736875160637463263[53] = 0; - out_8736875160637463263[54] = 0; - out_8736875160637463263[55] = 0; - out_8736875160637463263[56] = 0; - out_8736875160637463263[57] = 1; - out_8736875160637463263[58] = 0; - out_8736875160637463263[59] = 0; - out_8736875160637463263[60] = 0; - out_8736875160637463263[61] = 0; - out_8736875160637463263[62] = 0; - out_8736875160637463263[63] = 0; - out_8736875160637463263[64] = 0; - out_8736875160637463263[65] = 0; - out_8736875160637463263[66] = dt; - out_8736875160637463263[67] = 0; - out_8736875160637463263[68] = 0; - out_8736875160637463263[69] = 0; - out_8736875160637463263[70] = 0; - out_8736875160637463263[71] = 0; - out_8736875160637463263[72] = 0; - out_8736875160637463263[73] = 0; - out_8736875160637463263[74] = 0; - out_8736875160637463263[75] = 0; - out_8736875160637463263[76] = 1; - out_8736875160637463263[77] = 0; - out_8736875160637463263[78] = 0; - out_8736875160637463263[79] = 0; - out_8736875160637463263[80] = 0; - out_8736875160637463263[81] = 0; - out_8736875160637463263[82] = 0; - out_8736875160637463263[83] = 0; - out_8736875160637463263[84] = 0; - out_8736875160637463263[85] = dt; - out_8736875160637463263[86] = 0; - out_8736875160637463263[87] = 0; - out_8736875160637463263[88] = 0; - out_8736875160637463263[89] = 0; - out_8736875160637463263[90] = 0; - out_8736875160637463263[91] = 0; - out_8736875160637463263[92] = 0; - out_8736875160637463263[93] = 0; - out_8736875160637463263[94] = 0; - out_8736875160637463263[95] = 1; - out_8736875160637463263[96] = 0; - out_8736875160637463263[97] = 0; - out_8736875160637463263[98] = 0; - out_8736875160637463263[99] = 0; - out_8736875160637463263[100] = 0; - out_8736875160637463263[101] = 0; - out_8736875160637463263[102] = 0; - out_8736875160637463263[103] = 0; - out_8736875160637463263[104] = dt; - out_8736875160637463263[105] = 0; - out_8736875160637463263[106] = 0; - out_8736875160637463263[107] = 0; - out_8736875160637463263[108] = 0; - out_8736875160637463263[109] = 0; - out_8736875160637463263[110] = 0; - out_8736875160637463263[111] = 0; - out_8736875160637463263[112] = 0; - out_8736875160637463263[113] = 0; - out_8736875160637463263[114] = 1; - out_8736875160637463263[115] = 0; - out_8736875160637463263[116] = 0; - out_8736875160637463263[117] = 0; - out_8736875160637463263[118] = 0; - out_8736875160637463263[119] = 0; - out_8736875160637463263[120] = 0; - out_8736875160637463263[121] = 0; - out_8736875160637463263[122] = 0; - out_8736875160637463263[123] = 0; - out_8736875160637463263[124] = 0; - out_8736875160637463263[125] = 0; - out_8736875160637463263[126] = 0; - out_8736875160637463263[127] = 0; - out_8736875160637463263[128] = 0; - out_8736875160637463263[129] = 0; - out_8736875160637463263[130] = 0; - out_8736875160637463263[131] = 0; - out_8736875160637463263[132] = 0; - out_8736875160637463263[133] = 1; - out_8736875160637463263[134] = 0; - out_8736875160637463263[135] = 0; - out_8736875160637463263[136] = 0; - out_8736875160637463263[137] = 0; - out_8736875160637463263[138] = 0; - out_8736875160637463263[139] = 0; - out_8736875160637463263[140] = 0; - out_8736875160637463263[141] = 0; - out_8736875160637463263[142] = 0; - out_8736875160637463263[143] = 0; - out_8736875160637463263[144] = 0; - out_8736875160637463263[145] = 0; - out_8736875160637463263[146] = 0; - out_8736875160637463263[147] = 0; - out_8736875160637463263[148] = 0; - out_8736875160637463263[149] = 0; - out_8736875160637463263[150] = 0; - out_8736875160637463263[151] = 0; - out_8736875160637463263[152] = 1; - out_8736875160637463263[153] = 0; - out_8736875160637463263[154] = 0; - out_8736875160637463263[155] = 0; - out_8736875160637463263[156] = 0; - out_8736875160637463263[157] = 0; - out_8736875160637463263[158] = 0; - out_8736875160637463263[159] = 0; - out_8736875160637463263[160] = 0; - out_8736875160637463263[161] = 0; - out_8736875160637463263[162] = 0; - out_8736875160637463263[163] = 0; - out_8736875160637463263[164] = 0; - out_8736875160637463263[165] = 0; - out_8736875160637463263[166] = 0; - out_8736875160637463263[167] = 0; - out_8736875160637463263[168] = 0; - out_8736875160637463263[169] = 0; - out_8736875160637463263[170] = 0; - out_8736875160637463263[171] = 1; - out_8736875160637463263[172] = 0; - out_8736875160637463263[173] = 0; - out_8736875160637463263[174] = 0; - out_8736875160637463263[175] = 0; - out_8736875160637463263[176] = 0; - out_8736875160637463263[177] = 0; - out_8736875160637463263[178] = 0; - out_8736875160637463263[179] = 0; - out_8736875160637463263[180] = 0; - out_8736875160637463263[181] = 0; - out_8736875160637463263[182] = 0; - out_8736875160637463263[183] = 0; - out_8736875160637463263[184] = 0; - out_8736875160637463263[185] = 0; - out_8736875160637463263[186] = 0; - out_8736875160637463263[187] = 0; - out_8736875160637463263[188] = 0; - out_8736875160637463263[189] = 0; - out_8736875160637463263[190] = 1; - out_8736875160637463263[191] = 0; - out_8736875160637463263[192] = 0; - out_8736875160637463263[193] = 0; - out_8736875160637463263[194] = 0; - out_8736875160637463263[195] = 0; - out_8736875160637463263[196] = 0; - out_8736875160637463263[197] = 0; - out_8736875160637463263[198] = 0; - out_8736875160637463263[199] = 0; - out_8736875160637463263[200] = 0; - out_8736875160637463263[201] = 0; - out_8736875160637463263[202] = 0; - out_8736875160637463263[203] = 0; - out_8736875160637463263[204] = 0; - out_8736875160637463263[205] = 0; - out_8736875160637463263[206] = 0; - out_8736875160637463263[207] = 0; - out_8736875160637463263[208] = 0; - out_8736875160637463263[209] = 1; - out_8736875160637463263[210] = 0; - out_8736875160637463263[211] = 0; - out_8736875160637463263[212] = 0; - out_8736875160637463263[213] = 0; - out_8736875160637463263[214] = 0; - out_8736875160637463263[215] = 0; - out_8736875160637463263[216] = 0; - out_8736875160637463263[217] = 0; - out_8736875160637463263[218] = 0; - out_8736875160637463263[219] = 0; - out_8736875160637463263[220] = 0; - out_8736875160637463263[221] = 0; - out_8736875160637463263[222] = 0; - out_8736875160637463263[223] = 0; - out_8736875160637463263[224] = 0; - out_8736875160637463263[225] = 0; - out_8736875160637463263[226] = 0; - out_8736875160637463263[227] = 0; - out_8736875160637463263[228] = 1; - out_8736875160637463263[229] = 0; - out_8736875160637463263[230] = 0; - out_8736875160637463263[231] = 0; - out_8736875160637463263[232] = 0; - out_8736875160637463263[233] = 0; - out_8736875160637463263[234] = 0; - out_8736875160637463263[235] = 0; - out_8736875160637463263[236] = 0; - out_8736875160637463263[237] = 0; - out_8736875160637463263[238] = 0; - out_8736875160637463263[239] = 0; - out_8736875160637463263[240] = 0; - out_8736875160637463263[241] = 0; - out_8736875160637463263[242] = 0; - out_8736875160637463263[243] = 0; - out_8736875160637463263[244] = 0; - out_8736875160637463263[245] = 0; - out_8736875160637463263[246] = 0; - out_8736875160637463263[247] = 1; - out_8736875160637463263[248] = 0; - out_8736875160637463263[249] = 0; - out_8736875160637463263[250] = 0; - out_8736875160637463263[251] = 0; - out_8736875160637463263[252] = 0; - out_8736875160637463263[253] = 0; - out_8736875160637463263[254] = 0; - out_8736875160637463263[255] = 0; - out_8736875160637463263[256] = 0; - out_8736875160637463263[257] = 0; - out_8736875160637463263[258] = 0; - out_8736875160637463263[259] = 0; - out_8736875160637463263[260] = 0; - out_8736875160637463263[261] = 0; - out_8736875160637463263[262] = 0; - out_8736875160637463263[263] = 0; - out_8736875160637463263[264] = 0; - out_8736875160637463263[265] = 0; - out_8736875160637463263[266] = 1; - out_8736875160637463263[267] = 0; - out_8736875160637463263[268] = 0; - out_8736875160637463263[269] = 0; - out_8736875160637463263[270] = 0; - out_8736875160637463263[271] = 0; - out_8736875160637463263[272] = 0; - out_8736875160637463263[273] = 0; - out_8736875160637463263[274] = 0; - out_8736875160637463263[275] = 0; - out_8736875160637463263[276] = 0; - out_8736875160637463263[277] = 0; - out_8736875160637463263[278] = 0; - out_8736875160637463263[279] = 0; - out_8736875160637463263[280] = 0; - out_8736875160637463263[281] = 0; - out_8736875160637463263[282] = 0; - out_8736875160637463263[283] = 0; - out_8736875160637463263[284] = 0; - out_8736875160637463263[285] = 1; - out_8736875160637463263[286] = 0; - out_8736875160637463263[287] = 0; - out_8736875160637463263[288] = 0; - out_8736875160637463263[289] = 0; - out_8736875160637463263[290] = 0; - out_8736875160637463263[291] = 0; - out_8736875160637463263[292] = 0; - out_8736875160637463263[293] = 0; - out_8736875160637463263[294] = 0; - out_8736875160637463263[295] = 0; - out_8736875160637463263[296] = 0; - out_8736875160637463263[297] = 0; - out_8736875160637463263[298] = 0; - out_8736875160637463263[299] = 0; - out_8736875160637463263[300] = 0; - out_8736875160637463263[301] = 0; - out_8736875160637463263[302] = 0; - out_8736875160637463263[303] = 0; - out_8736875160637463263[304] = 1; - out_8736875160637463263[305] = 0; - out_8736875160637463263[306] = 0; - out_8736875160637463263[307] = 0; - out_8736875160637463263[308] = 0; - out_8736875160637463263[309] = 0; - out_8736875160637463263[310] = 0; - out_8736875160637463263[311] = 0; - out_8736875160637463263[312] = 0; - out_8736875160637463263[313] = 0; - out_8736875160637463263[314] = 0; - out_8736875160637463263[315] = 0; - out_8736875160637463263[316] = 0; - out_8736875160637463263[317] = 0; - out_8736875160637463263[318] = 0; - out_8736875160637463263[319] = 0; - out_8736875160637463263[320] = 0; - out_8736875160637463263[321] = 0; - out_8736875160637463263[322] = 0; - out_8736875160637463263[323] = 1; +void F_fun(double *state, double dt, double *out_4732408561172474784) { + out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[2] = 0; + out_4732408561172474784[3] = 0; + out_4732408561172474784[4] = 0; + out_4732408561172474784[5] = 0; + out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[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_4732408561172474784[9] = 0; + out_4732408561172474784[10] = 0; + out_4732408561172474784[11] = 0; + out_4732408561172474784[12] = 0; + out_4732408561172474784[13] = 0; + out_4732408561172474784[14] = 0; + out_4732408561172474784[15] = 0; + out_4732408561172474784[16] = 0; + out_4732408561172474784[17] = 0; + out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[20] = 0; + out_4732408561172474784[21] = 0; + out_4732408561172474784[22] = 0; + out_4732408561172474784[23] = 0; + out_4732408561172474784[24] = 0; + out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[27] = 0; + out_4732408561172474784[28] = 0; + out_4732408561172474784[29] = 0; + out_4732408561172474784[30] = 0; + out_4732408561172474784[31] = 0; + out_4732408561172474784[32] = 0; + out_4732408561172474784[33] = 0; + out_4732408561172474784[34] = 0; + out_4732408561172474784[35] = 0; + out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[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_4732408561172474784[39] = 0; + out_4732408561172474784[40] = 0; + out_4732408561172474784[41] = 0; + out_4732408561172474784[42] = 0; + out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[45] = 0; + out_4732408561172474784[46] = 0; + out_4732408561172474784[47] = 0; + out_4732408561172474784[48] = 0; + out_4732408561172474784[49] = 0; + out_4732408561172474784[50] = 0; + out_4732408561172474784[51] = 0; + out_4732408561172474784[52] = 0; + out_4732408561172474784[53] = 0; + out_4732408561172474784[54] = 0; + out_4732408561172474784[55] = 0; + out_4732408561172474784[56] = 0; + out_4732408561172474784[57] = 1; + out_4732408561172474784[58] = 0; + out_4732408561172474784[59] = 0; + out_4732408561172474784[60] = 0; + out_4732408561172474784[61] = 0; + out_4732408561172474784[62] = 0; + out_4732408561172474784[63] = 0; + out_4732408561172474784[64] = 0; + out_4732408561172474784[65] = 0; + out_4732408561172474784[66] = dt; + out_4732408561172474784[67] = 0; + out_4732408561172474784[68] = 0; + out_4732408561172474784[69] = 0; + out_4732408561172474784[70] = 0; + out_4732408561172474784[71] = 0; + out_4732408561172474784[72] = 0; + out_4732408561172474784[73] = 0; + out_4732408561172474784[74] = 0; + out_4732408561172474784[75] = 0; + out_4732408561172474784[76] = 1; + out_4732408561172474784[77] = 0; + out_4732408561172474784[78] = 0; + out_4732408561172474784[79] = 0; + out_4732408561172474784[80] = 0; + out_4732408561172474784[81] = 0; + out_4732408561172474784[82] = 0; + out_4732408561172474784[83] = 0; + out_4732408561172474784[84] = 0; + out_4732408561172474784[85] = dt; + out_4732408561172474784[86] = 0; + out_4732408561172474784[87] = 0; + out_4732408561172474784[88] = 0; + out_4732408561172474784[89] = 0; + out_4732408561172474784[90] = 0; + out_4732408561172474784[91] = 0; + out_4732408561172474784[92] = 0; + out_4732408561172474784[93] = 0; + out_4732408561172474784[94] = 0; + out_4732408561172474784[95] = 1; + out_4732408561172474784[96] = 0; + out_4732408561172474784[97] = 0; + out_4732408561172474784[98] = 0; + out_4732408561172474784[99] = 0; + out_4732408561172474784[100] = 0; + out_4732408561172474784[101] = 0; + out_4732408561172474784[102] = 0; + out_4732408561172474784[103] = 0; + out_4732408561172474784[104] = dt; + out_4732408561172474784[105] = 0; + out_4732408561172474784[106] = 0; + out_4732408561172474784[107] = 0; + out_4732408561172474784[108] = 0; + out_4732408561172474784[109] = 0; + out_4732408561172474784[110] = 0; + out_4732408561172474784[111] = 0; + out_4732408561172474784[112] = 0; + out_4732408561172474784[113] = 0; + out_4732408561172474784[114] = 1; + out_4732408561172474784[115] = 0; + out_4732408561172474784[116] = 0; + out_4732408561172474784[117] = 0; + out_4732408561172474784[118] = 0; + out_4732408561172474784[119] = 0; + out_4732408561172474784[120] = 0; + out_4732408561172474784[121] = 0; + out_4732408561172474784[122] = 0; + out_4732408561172474784[123] = 0; + out_4732408561172474784[124] = 0; + out_4732408561172474784[125] = 0; + out_4732408561172474784[126] = 0; + out_4732408561172474784[127] = 0; + out_4732408561172474784[128] = 0; + out_4732408561172474784[129] = 0; + out_4732408561172474784[130] = 0; + out_4732408561172474784[131] = 0; + out_4732408561172474784[132] = 0; + out_4732408561172474784[133] = 1; + out_4732408561172474784[134] = 0; + out_4732408561172474784[135] = 0; + out_4732408561172474784[136] = 0; + out_4732408561172474784[137] = 0; + out_4732408561172474784[138] = 0; + out_4732408561172474784[139] = 0; + out_4732408561172474784[140] = 0; + out_4732408561172474784[141] = 0; + out_4732408561172474784[142] = 0; + out_4732408561172474784[143] = 0; + out_4732408561172474784[144] = 0; + out_4732408561172474784[145] = 0; + out_4732408561172474784[146] = 0; + out_4732408561172474784[147] = 0; + out_4732408561172474784[148] = 0; + out_4732408561172474784[149] = 0; + out_4732408561172474784[150] = 0; + out_4732408561172474784[151] = 0; + out_4732408561172474784[152] = 1; + out_4732408561172474784[153] = 0; + out_4732408561172474784[154] = 0; + out_4732408561172474784[155] = 0; + out_4732408561172474784[156] = 0; + out_4732408561172474784[157] = 0; + out_4732408561172474784[158] = 0; + out_4732408561172474784[159] = 0; + out_4732408561172474784[160] = 0; + out_4732408561172474784[161] = 0; + out_4732408561172474784[162] = 0; + out_4732408561172474784[163] = 0; + out_4732408561172474784[164] = 0; + out_4732408561172474784[165] = 0; + out_4732408561172474784[166] = 0; + out_4732408561172474784[167] = 0; + out_4732408561172474784[168] = 0; + out_4732408561172474784[169] = 0; + out_4732408561172474784[170] = 0; + out_4732408561172474784[171] = 1; + out_4732408561172474784[172] = 0; + out_4732408561172474784[173] = 0; + out_4732408561172474784[174] = 0; + out_4732408561172474784[175] = 0; + out_4732408561172474784[176] = 0; + out_4732408561172474784[177] = 0; + out_4732408561172474784[178] = 0; + out_4732408561172474784[179] = 0; + out_4732408561172474784[180] = 0; + out_4732408561172474784[181] = 0; + out_4732408561172474784[182] = 0; + out_4732408561172474784[183] = 0; + out_4732408561172474784[184] = 0; + out_4732408561172474784[185] = 0; + out_4732408561172474784[186] = 0; + out_4732408561172474784[187] = 0; + out_4732408561172474784[188] = 0; + out_4732408561172474784[189] = 0; + out_4732408561172474784[190] = 1; + out_4732408561172474784[191] = 0; + out_4732408561172474784[192] = 0; + out_4732408561172474784[193] = 0; + out_4732408561172474784[194] = 0; + out_4732408561172474784[195] = 0; + out_4732408561172474784[196] = 0; + out_4732408561172474784[197] = 0; + out_4732408561172474784[198] = 0; + out_4732408561172474784[199] = 0; + out_4732408561172474784[200] = 0; + out_4732408561172474784[201] = 0; + out_4732408561172474784[202] = 0; + out_4732408561172474784[203] = 0; + out_4732408561172474784[204] = 0; + out_4732408561172474784[205] = 0; + out_4732408561172474784[206] = 0; + out_4732408561172474784[207] = 0; + out_4732408561172474784[208] = 0; + out_4732408561172474784[209] = 1; + out_4732408561172474784[210] = 0; + out_4732408561172474784[211] = 0; + out_4732408561172474784[212] = 0; + out_4732408561172474784[213] = 0; + out_4732408561172474784[214] = 0; + out_4732408561172474784[215] = 0; + out_4732408561172474784[216] = 0; + out_4732408561172474784[217] = 0; + out_4732408561172474784[218] = 0; + out_4732408561172474784[219] = 0; + out_4732408561172474784[220] = 0; + out_4732408561172474784[221] = 0; + out_4732408561172474784[222] = 0; + out_4732408561172474784[223] = 0; + out_4732408561172474784[224] = 0; + out_4732408561172474784[225] = 0; + out_4732408561172474784[226] = 0; + out_4732408561172474784[227] = 0; + out_4732408561172474784[228] = 1; + out_4732408561172474784[229] = 0; + out_4732408561172474784[230] = 0; + out_4732408561172474784[231] = 0; + out_4732408561172474784[232] = 0; + out_4732408561172474784[233] = 0; + out_4732408561172474784[234] = 0; + out_4732408561172474784[235] = 0; + out_4732408561172474784[236] = 0; + out_4732408561172474784[237] = 0; + out_4732408561172474784[238] = 0; + out_4732408561172474784[239] = 0; + out_4732408561172474784[240] = 0; + out_4732408561172474784[241] = 0; + out_4732408561172474784[242] = 0; + out_4732408561172474784[243] = 0; + out_4732408561172474784[244] = 0; + out_4732408561172474784[245] = 0; + out_4732408561172474784[246] = 0; + out_4732408561172474784[247] = 1; + out_4732408561172474784[248] = 0; + out_4732408561172474784[249] = 0; + out_4732408561172474784[250] = 0; + out_4732408561172474784[251] = 0; + out_4732408561172474784[252] = 0; + out_4732408561172474784[253] = 0; + out_4732408561172474784[254] = 0; + out_4732408561172474784[255] = 0; + out_4732408561172474784[256] = 0; + out_4732408561172474784[257] = 0; + out_4732408561172474784[258] = 0; + out_4732408561172474784[259] = 0; + out_4732408561172474784[260] = 0; + out_4732408561172474784[261] = 0; + out_4732408561172474784[262] = 0; + out_4732408561172474784[263] = 0; + out_4732408561172474784[264] = 0; + out_4732408561172474784[265] = 0; + out_4732408561172474784[266] = 1; + out_4732408561172474784[267] = 0; + out_4732408561172474784[268] = 0; + out_4732408561172474784[269] = 0; + out_4732408561172474784[270] = 0; + out_4732408561172474784[271] = 0; + out_4732408561172474784[272] = 0; + out_4732408561172474784[273] = 0; + out_4732408561172474784[274] = 0; + out_4732408561172474784[275] = 0; + out_4732408561172474784[276] = 0; + out_4732408561172474784[277] = 0; + out_4732408561172474784[278] = 0; + out_4732408561172474784[279] = 0; + out_4732408561172474784[280] = 0; + out_4732408561172474784[281] = 0; + out_4732408561172474784[282] = 0; + out_4732408561172474784[283] = 0; + out_4732408561172474784[284] = 0; + out_4732408561172474784[285] = 1; + out_4732408561172474784[286] = 0; + out_4732408561172474784[287] = 0; + out_4732408561172474784[288] = 0; + out_4732408561172474784[289] = 0; + out_4732408561172474784[290] = 0; + out_4732408561172474784[291] = 0; + out_4732408561172474784[292] = 0; + out_4732408561172474784[293] = 0; + out_4732408561172474784[294] = 0; + out_4732408561172474784[295] = 0; + out_4732408561172474784[296] = 0; + out_4732408561172474784[297] = 0; + out_4732408561172474784[298] = 0; + out_4732408561172474784[299] = 0; + out_4732408561172474784[300] = 0; + out_4732408561172474784[301] = 0; + out_4732408561172474784[302] = 0; + out_4732408561172474784[303] = 0; + out_4732408561172474784[304] = 1; + out_4732408561172474784[305] = 0; + out_4732408561172474784[306] = 0; + out_4732408561172474784[307] = 0; + out_4732408561172474784[308] = 0; + out_4732408561172474784[309] = 0; + out_4732408561172474784[310] = 0; + out_4732408561172474784[311] = 0; + out_4732408561172474784[312] = 0; + out_4732408561172474784[313] = 0; + out_4732408561172474784[314] = 0; + out_4732408561172474784[315] = 0; + out_4732408561172474784[316] = 0; + out_4732408561172474784[317] = 0; + out_4732408561172474784[318] = 0; + out_4732408561172474784[319] = 0; + out_4732408561172474784[320] = 0; + out_4732408561172474784[321] = 0; + out_4732408561172474784[322] = 0; + out_4732408561172474784[323] = 1; } -void h_4(double *state, double *unused, double *out_5158761943134929654) { - out_5158761943134929654[0] = state[6] + state[9]; - out_5158761943134929654[1] = state[7] + state[10]; - out_5158761943134929654[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6918932125970712407) { + out_6918932125970712407[0] = state[6] + state[9]; + out_6918932125970712407[1] = state[7] + state[10]; + out_6918932125970712407[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4082765935524626398) { - out_4082765935524626398[0] = 0; - out_4082765935524626398[1] = 0; - out_4082765935524626398[2] = 0; - out_4082765935524626398[3] = 0; - out_4082765935524626398[4] = 0; - out_4082765935524626398[5] = 0; - out_4082765935524626398[6] = 1; - out_4082765935524626398[7] = 0; - out_4082765935524626398[8] = 0; - out_4082765935524626398[9] = 1; - out_4082765935524626398[10] = 0; - out_4082765935524626398[11] = 0; - out_4082765935524626398[12] = 0; - out_4082765935524626398[13] = 0; - out_4082765935524626398[14] = 0; - out_4082765935524626398[15] = 0; - out_4082765935524626398[16] = 0; - out_4082765935524626398[17] = 0; - out_4082765935524626398[18] = 0; - out_4082765935524626398[19] = 0; - out_4082765935524626398[20] = 0; - out_4082765935524626398[21] = 0; - out_4082765935524626398[22] = 0; - out_4082765935524626398[23] = 0; - out_4082765935524626398[24] = 0; - out_4082765935524626398[25] = 1; - out_4082765935524626398[26] = 0; - out_4082765935524626398[27] = 0; - out_4082765935524626398[28] = 1; - out_4082765935524626398[29] = 0; - out_4082765935524626398[30] = 0; - out_4082765935524626398[31] = 0; - out_4082765935524626398[32] = 0; - out_4082765935524626398[33] = 0; - out_4082765935524626398[34] = 0; - out_4082765935524626398[35] = 0; - out_4082765935524626398[36] = 0; - out_4082765935524626398[37] = 0; - out_4082765935524626398[38] = 0; - out_4082765935524626398[39] = 0; - out_4082765935524626398[40] = 0; - out_4082765935524626398[41] = 0; - out_4082765935524626398[42] = 0; - out_4082765935524626398[43] = 0; - out_4082765935524626398[44] = 1; - out_4082765935524626398[45] = 0; - out_4082765935524626398[46] = 0; - out_4082765935524626398[47] = 1; - out_4082765935524626398[48] = 0; - out_4082765935524626398[49] = 0; - out_4082765935524626398[50] = 0; - out_4082765935524626398[51] = 0; - out_4082765935524626398[52] = 0; - out_4082765935524626398[53] = 0; +void H_4(double *state, double *unused, double *out_1564971099026927671) { + out_1564971099026927671[0] = 0; + out_1564971099026927671[1] = 0; + out_1564971099026927671[2] = 0; + out_1564971099026927671[3] = 0; + out_1564971099026927671[4] = 0; + out_1564971099026927671[5] = 0; + out_1564971099026927671[6] = 1; + out_1564971099026927671[7] = 0; + out_1564971099026927671[8] = 0; + out_1564971099026927671[9] = 1; + out_1564971099026927671[10] = 0; + out_1564971099026927671[11] = 0; + out_1564971099026927671[12] = 0; + out_1564971099026927671[13] = 0; + out_1564971099026927671[14] = 0; + out_1564971099026927671[15] = 0; + out_1564971099026927671[16] = 0; + out_1564971099026927671[17] = 0; + out_1564971099026927671[18] = 0; + out_1564971099026927671[19] = 0; + out_1564971099026927671[20] = 0; + out_1564971099026927671[21] = 0; + out_1564971099026927671[22] = 0; + out_1564971099026927671[23] = 0; + out_1564971099026927671[24] = 0; + out_1564971099026927671[25] = 1; + out_1564971099026927671[26] = 0; + out_1564971099026927671[27] = 0; + out_1564971099026927671[28] = 1; + out_1564971099026927671[29] = 0; + out_1564971099026927671[30] = 0; + out_1564971099026927671[31] = 0; + out_1564971099026927671[32] = 0; + out_1564971099026927671[33] = 0; + out_1564971099026927671[34] = 0; + out_1564971099026927671[35] = 0; + out_1564971099026927671[36] = 0; + out_1564971099026927671[37] = 0; + out_1564971099026927671[38] = 0; + out_1564971099026927671[39] = 0; + out_1564971099026927671[40] = 0; + out_1564971099026927671[41] = 0; + out_1564971099026927671[42] = 0; + out_1564971099026927671[43] = 0; + out_1564971099026927671[44] = 1; + out_1564971099026927671[45] = 0; + out_1564971099026927671[46] = 0; + out_1564971099026927671[47] = 1; + out_1564971099026927671[48] = 0; + out_1564971099026927671[49] = 0; + out_1564971099026927671[50] = 0; + out_1564971099026927671[51] = 0; + out_1564971099026927671[52] = 0; + out_1564971099026927671[53] = 0; } -void h_10(double *state, double *unused, double *out_563005185308758885) { - out_563005185308758885[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_563005185308758885[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_563005185308758885[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_3027582300414544631) { + out_3027582300414544631[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3027582300414544631[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3027582300414544631[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_7993288058010589722) { - out_7993288058010589722[0] = 0; - out_7993288058010589722[1] = 9.8100000000000005*cos(state[1]); - out_7993288058010589722[2] = 0; - out_7993288058010589722[3] = 0; - out_7993288058010589722[4] = -state[8]; - out_7993288058010589722[5] = state[7]; - out_7993288058010589722[6] = 0; - out_7993288058010589722[7] = state[5]; - out_7993288058010589722[8] = -state[4]; - out_7993288058010589722[9] = 0; - out_7993288058010589722[10] = 0; - out_7993288058010589722[11] = 0; - out_7993288058010589722[12] = 1; - out_7993288058010589722[13] = 0; - out_7993288058010589722[14] = 0; - out_7993288058010589722[15] = 1; - out_7993288058010589722[16] = 0; - out_7993288058010589722[17] = 0; - out_7993288058010589722[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_7993288058010589722[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_7993288058010589722[20] = 0; - out_7993288058010589722[21] = state[8]; - out_7993288058010589722[22] = 0; - out_7993288058010589722[23] = -state[6]; - out_7993288058010589722[24] = -state[5]; - out_7993288058010589722[25] = 0; - out_7993288058010589722[26] = state[3]; - out_7993288058010589722[27] = 0; - out_7993288058010589722[28] = 0; - out_7993288058010589722[29] = 0; - out_7993288058010589722[30] = 0; - out_7993288058010589722[31] = 1; - out_7993288058010589722[32] = 0; - out_7993288058010589722[33] = 0; - out_7993288058010589722[34] = 1; - out_7993288058010589722[35] = 0; - out_7993288058010589722[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_7993288058010589722[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_7993288058010589722[38] = 0; - out_7993288058010589722[39] = -state[7]; - out_7993288058010589722[40] = state[6]; - out_7993288058010589722[41] = 0; - out_7993288058010589722[42] = state[4]; - out_7993288058010589722[43] = -state[3]; - out_7993288058010589722[44] = 0; - out_7993288058010589722[45] = 0; - out_7993288058010589722[46] = 0; - out_7993288058010589722[47] = 0; - out_7993288058010589722[48] = 0; - out_7993288058010589722[49] = 0; - out_7993288058010589722[50] = 1; - out_7993288058010589722[51] = 0; - out_7993288058010589722[52] = 0; - out_7993288058010589722[53] = 1; +void H_10(double *state, double *unused, double *out_3487027415066723561) { + out_3487027415066723561[0] = 0; + out_3487027415066723561[1] = 9.8100000000000005*cos(state[1]); + out_3487027415066723561[2] = 0; + out_3487027415066723561[3] = 0; + out_3487027415066723561[4] = -state[8]; + out_3487027415066723561[5] = state[7]; + out_3487027415066723561[6] = 0; + out_3487027415066723561[7] = state[5]; + out_3487027415066723561[8] = -state[4]; + out_3487027415066723561[9] = 0; + out_3487027415066723561[10] = 0; + out_3487027415066723561[11] = 0; + out_3487027415066723561[12] = 1; + out_3487027415066723561[13] = 0; + out_3487027415066723561[14] = 0; + out_3487027415066723561[15] = 1; + out_3487027415066723561[16] = 0; + out_3487027415066723561[17] = 0; + out_3487027415066723561[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3487027415066723561[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3487027415066723561[20] = 0; + out_3487027415066723561[21] = state[8]; + out_3487027415066723561[22] = 0; + out_3487027415066723561[23] = -state[6]; + out_3487027415066723561[24] = -state[5]; + out_3487027415066723561[25] = 0; + out_3487027415066723561[26] = state[3]; + out_3487027415066723561[27] = 0; + out_3487027415066723561[28] = 0; + out_3487027415066723561[29] = 0; + out_3487027415066723561[30] = 0; + out_3487027415066723561[31] = 1; + out_3487027415066723561[32] = 0; + out_3487027415066723561[33] = 0; + out_3487027415066723561[34] = 1; + out_3487027415066723561[35] = 0; + out_3487027415066723561[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3487027415066723561[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3487027415066723561[38] = 0; + out_3487027415066723561[39] = -state[7]; + out_3487027415066723561[40] = state[6]; + out_3487027415066723561[41] = 0; + out_3487027415066723561[42] = state[4]; + out_3487027415066723561[43] = -state[3]; + out_3487027415066723561[44] = 0; + out_3487027415066723561[45] = 0; + out_3487027415066723561[46] = 0; + out_3487027415066723561[47] = 0; + out_3487027415066723561[48] = 0; + out_3487027415066723561[49] = 0; + out_3487027415066723561[50] = 1; + out_3487027415066723561[51] = 0; + out_3487027415066723561[52] = 0; + out_3487027415066723561[53] = 1; } -void h_13(double *state, double *unused, double *out_1191809301965979441) { - out_1191809301965979441[0] = state[3]; - out_1191809301965979441[1] = state[4]; - out_1191809301965979441[2] = state[5]; +void h_13(double *state, double *unused, double *out_4493446518496679699) { + out_4493446518496679699[0] = state[3]; + out_4493446518496679699[1] = state[4]; + out_4493446518496679699[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7295039760856959199) { - out_7295039760856959199[0] = 0; - out_7295039760856959199[1] = 0; - out_7295039760856959199[2] = 0; - out_7295039760856959199[3] = 1; - out_7295039760856959199[4] = 0; - out_7295039760856959199[5] = 0; - out_7295039760856959199[6] = 0; - out_7295039760856959199[7] = 0; - out_7295039760856959199[8] = 0; - out_7295039760856959199[9] = 0; - out_7295039760856959199[10] = 0; - out_7295039760856959199[11] = 0; - out_7295039760856959199[12] = 0; - out_7295039760856959199[13] = 0; - out_7295039760856959199[14] = 0; - out_7295039760856959199[15] = 0; - out_7295039760856959199[16] = 0; - out_7295039760856959199[17] = 0; - out_7295039760856959199[18] = 0; - out_7295039760856959199[19] = 0; - out_7295039760856959199[20] = 0; - out_7295039760856959199[21] = 0; - out_7295039760856959199[22] = 1; - out_7295039760856959199[23] = 0; - out_7295039760856959199[24] = 0; - out_7295039760856959199[25] = 0; - out_7295039760856959199[26] = 0; - out_7295039760856959199[27] = 0; - out_7295039760856959199[28] = 0; - out_7295039760856959199[29] = 0; - out_7295039760856959199[30] = 0; - out_7295039760856959199[31] = 0; - out_7295039760856959199[32] = 0; - out_7295039760856959199[33] = 0; - out_7295039760856959199[34] = 0; - out_7295039760856959199[35] = 0; - out_7295039760856959199[36] = 0; - out_7295039760856959199[37] = 0; - out_7295039760856959199[38] = 0; - out_7295039760856959199[39] = 0; - out_7295039760856959199[40] = 0; - out_7295039760856959199[41] = 1; - out_7295039760856959199[42] = 0; - out_7295039760856959199[43] = 0; - out_7295039760856959199[44] = 0; - out_7295039760856959199[45] = 0; - out_7295039760856959199[46] = 0; - out_7295039760856959199[47] = 0; - out_7295039760856959199[48] = 0; - out_7295039760856959199[49] = 0; - out_7295039760856959199[50] = 0; - out_7295039760856959199[51] = 0; - out_7295039760856959199[52] = 0; - out_7295039760856959199[53] = 0; +void H_13(double *state, double *unused, double *out_1647302726305405130) { + out_1647302726305405130[0] = 0; + out_1647302726305405130[1] = 0; + out_1647302726305405130[2] = 0; + out_1647302726305405130[3] = 1; + out_1647302726305405130[4] = 0; + out_1647302726305405130[5] = 0; + out_1647302726305405130[6] = 0; + out_1647302726305405130[7] = 0; + out_1647302726305405130[8] = 0; + out_1647302726305405130[9] = 0; + out_1647302726305405130[10] = 0; + out_1647302726305405130[11] = 0; + out_1647302726305405130[12] = 0; + out_1647302726305405130[13] = 0; + out_1647302726305405130[14] = 0; + out_1647302726305405130[15] = 0; + out_1647302726305405130[16] = 0; + out_1647302726305405130[17] = 0; + out_1647302726305405130[18] = 0; + out_1647302726305405130[19] = 0; + out_1647302726305405130[20] = 0; + out_1647302726305405130[21] = 0; + out_1647302726305405130[22] = 1; + out_1647302726305405130[23] = 0; + out_1647302726305405130[24] = 0; + out_1647302726305405130[25] = 0; + out_1647302726305405130[26] = 0; + out_1647302726305405130[27] = 0; + out_1647302726305405130[28] = 0; + out_1647302726305405130[29] = 0; + out_1647302726305405130[30] = 0; + out_1647302726305405130[31] = 0; + out_1647302726305405130[32] = 0; + out_1647302726305405130[33] = 0; + out_1647302726305405130[34] = 0; + out_1647302726305405130[35] = 0; + out_1647302726305405130[36] = 0; + out_1647302726305405130[37] = 0; + out_1647302726305405130[38] = 0; + out_1647302726305405130[39] = 0; + out_1647302726305405130[40] = 0; + out_1647302726305405130[41] = 1; + out_1647302726305405130[42] = 0; + out_1647302726305405130[43] = 0; + out_1647302726305405130[44] = 0; + out_1647302726305405130[45] = 0; + out_1647302726305405130[46] = 0; + out_1647302726305405130[47] = 0; + out_1647302726305405130[48] = 0; + out_1647302726305405130[49] = 0; + out_1647302726305405130[50] = 0; + out_1647302726305405130[51] = 0; + out_1647302726305405130[52] = 0; + out_1647302726305405130[53] = 0; } -void h_14(double *state, double *unused, double *out_8501358265546490714) { - out_8501358265546490714[0] = state[6]; - out_8501358265546490714[1] = state[7]; - out_8501358265546490714[2] = state[8]; +void h_14(double *state, double *unused, double *out_507113954569858993) { + out_507113954569858993[0] = state[6]; + out_507113954569858993[1] = state[7]; + out_507113954569858993[2] = state[8]; } -void H_14(double *state, double *unused, double *out_999977503229254102) { - out_999977503229254102[0] = 0; - out_999977503229254102[1] = 0; - out_999977503229254102[2] = 0; - out_999977503229254102[3] = 0; - out_999977503229254102[4] = 0; - out_999977503229254102[5] = 0; - out_999977503229254102[6] = 1; - out_999977503229254102[7] = 0; - out_999977503229254102[8] = 0; - out_999977503229254102[9] = 0; - out_999977503229254102[10] = 0; - out_999977503229254102[11] = 0; - out_999977503229254102[12] = 0; - out_999977503229254102[13] = 0; - out_999977503229254102[14] = 0; - out_999977503229254102[15] = 0; - out_999977503229254102[16] = 0; - out_999977503229254102[17] = 0; - out_999977503229254102[18] = 0; - out_999977503229254102[19] = 0; - out_999977503229254102[20] = 0; - out_999977503229254102[21] = 0; - out_999977503229254102[22] = 0; - out_999977503229254102[23] = 0; - out_999977503229254102[24] = 0; - out_999977503229254102[25] = 1; - out_999977503229254102[26] = 0; - out_999977503229254102[27] = 0; - out_999977503229254102[28] = 0; - out_999977503229254102[29] = 0; - out_999977503229254102[30] = 0; - out_999977503229254102[31] = 0; - out_999977503229254102[32] = 0; - out_999977503229254102[33] = 0; - out_999977503229254102[34] = 0; - out_999977503229254102[35] = 0; - out_999977503229254102[36] = 0; - out_999977503229254102[37] = 0; - out_999977503229254102[38] = 0; - out_999977503229254102[39] = 0; - out_999977503229254102[40] = 0; - out_999977503229254102[41] = 0; - out_999977503229254102[42] = 0; - out_999977503229254102[43] = 0; - out_999977503229254102[44] = 1; - out_999977503229254102[45] = 0; - out_999977503229254102[46] = 0; - out_999977503229254102[47] = 0; - out_999977503229254102[48] = 0; - out_999977503229254102[49] = 0; - out_999977503229254102[50] = 0; - out_999977503229254102[51] = 0; - out_999977503229254102[52] = 0; - out_999977503229254102[53] = 0; +void H_14(double *state, double *unused, double *out_2398269757312556858) { + out_2398269757312556858[0] = 0; + out_2398269757312556858[1] = 0; + out_2398269757312556858[2] = 0; + out_2398269757312556858[3] = 0; + out_2398269757312556858[4] = 0; + out_2398269757312556858[5] = 0; + out_2398269757312556858[6] = 1; + out_2398269757312556858[7] = 0; + out_2398269757312556858[8] = 0; + out_2398269757312556858[9] = 0; + out_2398269757312556858[10] = 0; + out_2398269757312556858[11] = 0; + out_2398269757312556858[12] = 0; + out_2398269757312556858[13] = 0; + out_2398269757312556858[14] = 0; + out_2398269757312556858[15] = 0; + out_2398269757312556858[16] = 0; + out_2398269757312556858[17] = 0; + out_2398269757312556858[18] = 0; + out_2398269757312556858[19] = 0; + out_2398269757312556858[20] = 0; + out_2398269757312556858[21] = 0; + out_2398269757312556858[22] = 0; + out_2398269757312556858[23] = 0; + out_2398269757312556858[24] = 0; + out_2398269757312556858[25] = 1; + out_2398269757312556858[26] = 0; + out_2398269757312556858[27] = 0; + out_2398269757312556858[28] = 0; + out_2398269757312556858[29] = 0; + out_2398269757312556858[30] = 0; + out_2398269757312556858[31] = 0; + out_2398269757312556858[32] = 0; + out_2398269757312556858[33] = 0; + out_2398269757312556858[34] = 0; + out_2398269757312556858[35] = 0; + out_2398269757312556858[36] = 0; + out_2398269757312556858[37] = 0; + out_2398269757312556858[38] = 0; + out_2398269757312556858[39] = 0; + out_2398269757312556858[40] = 0; + out_2398269757312556858[41] = 0; + out_2398269757312556858[42] = 0; + out_2398269757312556858[43] = 0; + out_2398269757312556858[44] = 1; + out_2398269757312556858[45] = 0; + out_2398269757312556858[46] = 0; + out_2398269757312556858[47] = 0; + out_2398269757312556858[48] = 0; + out_2398269757312556858[49] = 0; + out_2398269757312556858[50] = 0; + out_2398269757312556858[51] = 0; + out_2398269757312556858[52] = 0; + out_2398269757312556858[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_5206974560936582462) { - err_fun(nom_x, delta_x, out_5206974560936582462); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8714848832990626554) { + err_fun(nom_x, delta_x, out_8714848832990626554); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8580851081509816390) { - inv_err_fun(nom_x, true_x, out_8580851081509816390); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5047671582975253903) { + inv_err_fun(nom_x, true_x, out_5047671582975253903); } -void pose_H_mod_fun(double *state, double *out_310958725680718826) { - H_mod_fun(state, out_310958725680718826); +void pose_H_mod_fun(double *state, double *out_1709250979764021582) { + H_mod_fun(state, out_1709250979764021582); } -void pose_f_fun(double *state, double dt, double *out_8333876756213369009) { - f_fun(state, dt, out_8333876756213369009); +void pose_f_fun(double *state, double dt, double *out_1316099113648689196) { + f_fun(state, dt, out_1316099113648689196); } -void pose_F_fun(double *state, double dt, double *out_8736875160637463263) { - F_fun(state, dt, out_8736875160637463263); +void pose_F_fun(double *state, double dt, double *out_4732408561172474784) { + F_fun(state, dt, out_4732408561172474784); } -void pose_h_4(double *state, double *unused, double *out_5158761943134929654) { - h_4(state, unused, out_5158761943134929654); +void pose_h_4(double *state, double *unused, double *out_6918932125970712407) { + h_4(state, unused, out_6918932125970712407); } -void pose_H_4(double *state, double *unused, double *out_4082765935524626398) { - H_4(state, unused, out_4082765935524626398); +void pose_H_4(double *state, double *unused, double *out_1564971099026927671) { + H_4(state, unused, out_1564971099026927671); } -void pose_h_10(double *state, double *unused, double *out_563005185308758885) { - h_10(state, unused, out_563005185308758885); +void pose_h_10(double *state, double *unused, double *out_3027582300414544631) { + h_10(state, unused, out_3027582300414544631); } -void pose_H_10(double *state, double *unused, double *out_7993288058010589722) { - H_10(state, unused, out_7993288058010589722); +void pose_H_10(double *state, double *unused, double *out_3487027415066723561) { + H_10(state, unused, out_3487027415066723561); } -void pose_h_13(double *state, double *unused, double *out_1191809301965979441) { - h_13(state, unused, out_1191809301965979441); +void pose_h_13(double *state, double *unused, double *out_4493446518496679699) { + h_13(state, unused, out_4493446518496679699); } -void pose_H_13(double *state, double *unused, double *out_7295039760856959199) { - H_13(state, unused, out_7295039760856959199); +void pose_H_13(double *state, double *unused, double *out_1647302726305405130) { + H_13(state, unused, out_1647302726305405130); } -void pose_h_14(double *state, double *unused, double *out_8501358265546490714) { - h_14(state, unused, out_8501358265546490714); +void pose_h_14(double *state, double *unused, double *out_507113954569858993) { + h_14(state, unused, out_507113954569858993); } -void pose_H_14(double *state, double *unused, double *out_999977503229254102) { - H_14(state, unused, out_999977503229254102); +void pose_H_14(double *state, double *unused, double *out_2398269757312556858) { + H_14(state, unused, out_2398269757312556858); } 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 65e183930..ce328b55d 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_5206974560936582462); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8580851081509816390); -void pose_H_mod_fun(double *state, double *out_310958725680718826); -void pose_f_fun(double *state, double dt, double *out_8333876756213369009); -void pose_F_fun(double *state, double dt, double *out_8736875160637463263); -void pose_h_4(double *state, double *unused, double *out_5158761943134929654); -void pose_H_4(double *state, double *unused, double *out_4082765935524626398); -void pose_h_10(double *state, double *unused, double *out_563005185308758885); -void pose_H_10(double *state, double *unused, double *out_7993288058010589722); -void pose_h_13(double *state, double *unused, double *out_1191809301965979441); -void pose_H_13(double *state, double *unused, double *out_7295039760856959199); -void pose_h_14(double *state, double *unused, double *out_8501358265546490714); -void pose_H_14(double *state, double *unused, double *out_999977503229254102); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8714848832990626554); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5047671582975253903); +void pose_H_mod_fun(double *state, double *out_1709250979764021582); +void pose_f_fun(double *state, double dt, double *out_1316099113648689196); +void pose_F_fun(double *state, double dt, double *out_4732408561172474784); +void pose_h_4(double *state, double *unused, double *out_6918932125970712407); +void pose_H_4(double *state, double *unused, double *out_1564971099026927671); +void pose_h_10(double *state, double *unused, double *out_3027582300414544631); +void pose_H_10(double *state, double *unused, double *out_3487027415066723561); +void pose_h_13(double *state, double *unused, double *out_4493446518496679699); +void pose_H_13(double *state, double *unused, double *out_1647302726305405130); +void pose_h_14(double *state, double *unused, double *out_507113954569858993); +void pose_H_14(double *state, double *unused, double *out_2398269757312556858); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 190d87c1a..615e28623 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 058ce8c2a..4ef73fbd8 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 3403011fd..055be1596 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 576021fb7..4ef12ed80 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 25b6f15f0..cc23e295e 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 4de7b1f8e..13cd0f45c 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ