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a/panda/board/obj/version b/panda/board/obj/version index 79e70540b..3ee486628 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-5882bd23-DEBUG \ No newline at end of file +DEV-3c655e79-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index a506e2974..b1af04ee3 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_5870650175258852411) { - out_5870650175258852411[0] = delta_x[0] + nom_x[0]; - out_5870650175258852411[1] = delta_x[1] + nom_x[1]; - out_5870650175258852411[2] = delta_x[2] + nom_x[2]; - out_5870650175258852411[3] = delta_x[3] + nom_x[3]; - out_5870650175258852411[4] = delta_x[4] + nom_x[4]; - out_5870650175258852411[5] = delta_x[5] + nom_x[5]; - out_5870650175258852411[6] = delta_x[6] + nom_x[6]; - out_5870650175258852411[7] = delta_x[7] + nom_x[7]; - out_5870650175258852411[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3753506106150578989) { + out_3753506106150578989[0] = delta_x[0] + nom_x[0]; + out_3753506106150578989[1] = delta_x[1] + nom_x[1]; + out_3753506106150578989[2] = delta_x[2] + nom_x[2]; + out_3753506106150578989[3] = delta_x[3] + nom_x[3]; + out_3753506106150578989[4] = delta_x[4] + nom_x[4]; + out_3753506106150578989[5] = delta_x[5] + nom_x[5]; + out_3753506106150578989[6] = delta_x[6] + nom_x[6]; + out_3753506106150578989[7] = delta_x[7] + nom_x[7]; + out_3753506106150578989[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3265729657434381044) { - out_3265729657434381044[0] = -nom_x[0] + true_x[0]; - out_3265729657434381044[1] = -nom_x[1] + true_x[1]; - out_3265729657434381044[2] = -nom_x[2] + true_x[2]; - out_3265729657434381044[3] = -nom_x[3] + true_x[3]; - out_3265729657434381044[4] = -nom_x[4] + true_x[4]; - out_3265729657434381044[5] = -nom_x[5] + true_x[5]; - out_3265729657434381044[6] = -nom_x[6] + true_x[6]; - out_3265729657434381044[7] = -nom_x[7] + true_x[7]; - out_3265729657434381044[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1593625426676531654) { + out_1593625426676531654[0] = -nom_x[0] + true_x[0]; + out_1593625426676531654[1] = -nom_x[1] + true_x[1]; + out_1593625426676531654[2] = -nom_x[2] + true_x[2]; + out_1593625426676531654[3] = -nom_x[3] + true_x[3]; + out_1593625426676531654[4] = -nom_x[4] + true_x[4]; + out_1593625426676531654[5] = -nom_x[5] + true_x[5]; + out_1593625426676531654[6] = -nom_x[6] + true_x[6]; + out_1593625426676531654[7] = -nom_x[7] + true_x[7]; + out_1593625426676531654[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8559018147660225964) { - out_8559018147660225964[0] = 1.0; - out_8559018147660225964[1] = 0.0; - out_8559018147660225964[2] = 0.0; - out_8559018147660225964[3] = 0.0; - out_8559018147660225964[4] = 0.0; - out_8559018147660225964[5] = 0.0; - out_8559018147660225964[6] = 0.0; - out_8559018147660225964[7] = 0.0; - out_8559018147660225964[8] = 0.0; - out_8559018147660225964[9] = 0.0; - out_8559018147660225964[10] = 1.0; - out_8559018147660225964[11] = 0.0; - out_8559018147660225964[12] = 0.0; - out_8559018147660225964[13] = 0.0; - out_8559018147660225964[14] = 0.0; - out_8559018147660225964[15] = 0.0; - out_8559018147660225964[16] = 0.0; - out_8559018147660225964[17] = 0.0; - out_8559018147660225964[18] = 0.0; - out_8559018147660225964[19] = 0.0; - out_8559018147660225964[20] = 1.0; - out_8559018147660225964[21] = 0.0; - out_8559018147660225964[22] = 0.0; - out_8559018147660225964[23] = 0.0; - out_8559018147660225964[24] = 0.0; - out_8559018147660225964[25] = 0.0; - out_8559018147660225964[26] = 0.0; - out_8559018147660225964[27] = 0.0; - out_8559018147660225964[28] = 0.0; - out_8559018147660225964[29] = 0.0; - out_8559018147660225964[30] = 1.0; - out_8559018147660225964[31] = 0.0; - out_8559018147660225964[32] = 0.0; - out_8559018147660225964[33] = 0.0; - out_8559018147660225964[34] = 0.0; - out_8559018147660225964[35] = 0.0; - out_8559018147660225964[36] = 0.0; - out_8559018147660225964[37] = 0.0; - out_8559018147660225964[38] = 0.0; - out_8559018147660225964[39] = 0.0; - out_8559018147660225964[40] = 1.0; - out_8559018147660225964[41] = 0.0; - out_8559018147660225964[42] = 0.0; - out_8559018147660225964[43] = 0.0; - out_8559018147660225964[44] = 0.0; - out_8559018147660225964[45] = 0.0; - out_8559018147660225964[46] = 0.0; - out_8559018147660225964[47] = 0.0; - out_8559018147660225964[48] = 0.0; - out_8559018147660225964[49] = 0.0; - out_8559018147660225964[50] = 1.0; - out_8559018147660225964[51] = 0.0; - out_8559018147660225964[52] = 0.0; - out_8559018147660225964[53] = 0.0; - out_8559018147660225964[54] = 0.0; - out_8559018147660225964[55] = 0.0; - out_8559018147660225964[56] = 0.0; - out_8559018147660225964[57] = 0.0; - out_8559018147660225964[58] = 0.0; - out_8559018147660225964[59] = 0.0; - out_8559018147660225964[60] = 1.0; - out_8559018147660225964[61] = 0.0; - out_8559018147660225964[62] = 0.0; - out_8559018147660225964[63] = 0.0; - out_8559018147660225964[64] = 0.0; - out_8559018147660225964[65] = 0.0; - out_8559018147660225964[66] = 0.0; - out_8559018147660225964[67] = 0.0; - out_8559018147660225964[68] = 0.0; - out_8559018147660225964[69] = 0.0; - out_8559018147660225964[70] = 1.0; - out_8559018147660225964[71] = 0.0; - out_8559018147660225964[72] = 0.0; - out_8559018147660225964[73] = 0.0; - out_8559018147660225964[74] = 0.0; - out_8559018147660225964[75] = 0.0; - out_8559018147660225964[76] = 0.0; - out_8559018147660225964[77] = 0.0; - out_8559018147660225964[78] = 0.0; - out_8559018147660225964[79] = 0.0; - out_8559018147660225964[80] = 1.0; +void H_mod_fun(double *state, double *out_8762705886933200550) { + out_8762705886933200550[0] = 1.0; + out_8762705886933200550[1] = 0.0; + out_8762705886933200550[2] = 0.0; + out_8762705886933200550[3] = 0.0; + out_8762705886933200550[4] = 0.0; + out_8762705886933200550[5] = 0.0; + out_8762705886933200550[6] = 0.0; + out_8762705886933200550[7] = 0.0; + out_8762705886933200550[8] = 0.0; + out_8762705886933200550[9] = 0.0; + out_8762705886933200550[10] = 1.0; + out_8762705886933200550[11] = 0.0; + out_8762705886933200550[12] = 0.0; + out_8762705886933200550[13] = 0.0; + out_8762705886933200550[14] = 0.0; + out_8762705886933200550[15] = 0.0; + out_8762705886933200550[16] = 0.0; + out_8762705886933200550[17] = 0.0; + out_8762705886933200550[18] = 0.0; + out_8762705886933200550[19] = 0.0; + out_8762705886933200550[20] = 1.0; + out_8762705886933200550[21] = 0.0; + out_8762705886933200550[22] = 0.0; + out_8762705886933200550[23] = 0.0; + out_8762705886933200550[24] = 0.0; + out_8762705886933200550[25] = 0.0; + out_8762705886933200550[26] = 0.0; + out_8762705886933200550[27] = 0.0; + out_8762705886933200550[28] = 0.0; + out_8762705886933200550[29] = 0.0; + out_8762705886933200550[30] = 1.0; + out_8762705886933200550[31] = 0.0; + out_8762705886933200550[32] = 0.0; + out_8762705886933200550[33] = 0.0; + out_8762705886933200550[34] = 0.0; + out_8762705886933200550[35] = 0.0; + out_8762705886933200550[36] = 0.0; + out_8762705886933200550[37] = 0.0; + out_8762705886933200550[38] = 0.0; + out_8762705886933200550[39] = 0.0; + out_8762705886933200550[40] = 1.0; + out_8762705886933200550[41] = 0.0; + out_8762705886933200550[42] = 0.0; + out_8762705886933200550[43] = 0.0; + out_8762705886933200550[44] = 0.0; + out_8762705886933200550[45] = 0.0; + out_8762705886933200550[46] = 0.0; + out_8762705886933200550[47] = 0.0; + out_8762705886933200550[48] = 0.0; + out_8762705886933200550[49] = 0.0; + out_8762705886933200550[50] = 1.0; + out_8762705886933200550[51] = 0.0; + out_8762705886933200550[52] = 0.0; + out_8762705886933200550[53] = 0.0; + out_8762705886933200550[54] = 0.0; + out_8762705886933200550[55] = 0.0; + out_8762705886933200550[56] = 0.0; + out_8762705886933200550[57] = 0.0; + out_8762705886933200550[58] = 0.0; + out_8762705886933200550[59] = 0.0; + out_8762705886933200550[60] = 1.0; + out_8762705886933200550[61] = 0.0; + out_8762705886933200550[62] = 0.0; + out_8762705886933200550[63] = 0.0; + out_8762705886933200550[64] = 0.0; + out_8762705886933200550[65] = 0.0; + out_8762705886933200550[66] = 0.0; + out_8762705886933200550[67] = 0.0; + out_8762705886933200550[68] = 0.0; + out_8762705886933200550[69] = 0.0; + out_8762705886933200550[70] = 1.0; + out_8762705886933200550[71] = 0.0; + out_8762705886933200550[72] = 0.0; + out_8762705886933200550[73] = 0.0; + out_8762705886933200550[74] = 0.0; + out_8762705886933200550[75] = 0.0; + out_8762705886933200550[76] = 0.0; + out_8762705886933200550[77] = 0.0; + out_8762705886933200550[78] = 0.0; + out_8762705886933200550[79] = 0.0; + out_8762705886933200550[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1736737013642959687) { - out_1736737013642959687[0] = state[0]; - out_1736737013642959687[1] = state[1]; - out_1736737013642959687[2] = state[2]; - out_1736737013642959687[3] = state[3]; - out_1736737013642959687[4] = state[4]; - out_1736737013642959687[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_1736737013642959687[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_1736737013642959687[7] = state[7]; - out_1736737013642959687[8] = state[8]; +void f_fun(double *state, double dt, double *out_5029070318695641969) { + out_5029070318695641969[0] = state[0]; + out_5029070318695641969[1] = state[1]; + out_5029070318695641969[2] = state[2]; + out_5029070318695641969[3] = state[3]; + out_5029070318695641969[4] = state[4]; + out_5029070318695641969[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_5029070318695641969[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_5029070318695641969[7] = state[7]; + out_5029070318695641969[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2126390936971804335) { - out_2126390936971804335[0] = 1; - out_2126390936971804335[1] = 0; - out_2126390936971804335[2] = 0; - out_2126390936971804335[3] = 0; - out_2126390936971804335[4] = 0; - out_2126390936971804335[5] = 0; - out_2126390936971804335[6] = 0; - out_2126390936971804335[7] = 0; - out_2126390936971804335[8] = 0; - out_2126390936971804335[9] = 0; - out_2126390936971804335[10] = 1; - out_2126390936971804335[11] = 0; - out_2126390936971804335[12] = 0; - out_2126390936971804335[13] = 0; - out_2126390936971804335[14] = 0; - out_2126390936971804335[15] = 0; - out_2126390936971804335[16] = 0; - out_2126390936971804335[17] = 0; - out_2126390936971804335[18] = 0; - out_2126390936971804335[19] = 0; - out_2126390936971804335[20] = 1; - out_2126390936971804335[21] = 0; - out_2126390936971804335[22] = 0; - out_2126390936971804335[23] = 0; - out_2126390936971804335[24] = 0; - out_2126390936971804335[25] = 0; - out_2126390936971804335[26] = 0; - out_2126390936971804335[27] = 0; - out_2126390936971804335[28] = 0; - out_2126390936971804335[29] = 0; - out_2126390936971804335[30] = 1; - out_2126390936971804335[31] = 0; - out_2126390936971804335[32] = 0; - out_2126390936971804335[33] = 0; - out_2126390936971804335[34] = 0; - out_2126390936971804335[35] = 0; - out_2126390936971804335[36] = 0; - out_2126390936971804335[37] = 0; - out_2126390936971804335[38] = 0; - out_2126390936971804335[39] = 0; - out_2126390936971804335[40] = 1; - out_2126390936971804335[41] = 0; - out_2126390936971804335[42] = 0; - out_2126390936971804335[43] = 0; - out_2126390936971804335[44] = 0; - out_2126390936971804335[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_2126390936971804335[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2126390936971804335[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2126390936971804335[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2126390936971804335[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_2126390936971804335[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2126390936971804335[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2126390936971804335[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2126390936971804335[53] = -9.8100000000000005*dt; - out_2126390936971804335[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_2126390936971804335[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2126390936971804335[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2126390936971804335[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2126390936971804335[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_2126390936971804335[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2126390936971804335[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_2126390936971804335[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2126390936971804335[62] = 0; - out_2126390936971804335[63] = 0; - out_2126390936971804335[64] = 0; - out_2126390936971804335[65] = 0; - out_2126390936971804335[66] = 0; - out_2126390936971804335[67] = 0; - out_2126390936971804335[68] = 0; - out_2126390936971804335[69] = 0; - out_2126390936971804335[70] = 1; - out_2126390936971804335[71] = 0; - out_2126390936971804335[72] = 0; - out_2126390936971804335[73] = 0; - out_2126390936971804335[74] = 0; - out_2126390936971804335[75] = 0; - out_2126390936971804335[76] = 0; - out_2126390936971804335[77] = 0; - out_2126390936971804335[78] = 0; - out_2126390936971804335[79] = 0; - out_2126390936971804335[80] = 1; +void F_fun(double *state, double dt, double *out_2813073183560075211) { + out_2813073183560075211[0] = 1; + out_2813073183560075211[1] = 0; + out_2813073183560075211[2] = 0; + out_2813073183560075211[3] = 0; + out_2813073183560075211[4] = 0; + out_2813073183560075211[5] = 0; + out_2813073183560075211[6] = 0; + out_2813073183560075211[7] = 0; + out_2813073183560075211[8] = 0; + out_2813073183560075211[9] = 0; + out_2813073183560075211[10] = 1; + out_2813073183560075211[11] = 0; + out_2813073183560075211[12] = 0; + out_2813073183560075211[13] = 0; + out_2813073183560075211[14] = 0; + out_2813073183560075211[15] = 0; + out_2813073183560075211[16] = 0; + out_2813073183560075211[17] = 0; + out_2813073183560075211[18] = 0; + out_2813073183560075211[19] = 0; + out_2813073183560075211[20] = 1; + out_2813073183560075211[21] = 0; + out_2813073183560075211[22] = 0; + out_2813073183560075211[23] = 0; + out_2813073183560075211[24] = 0; + out_2813073183560075211[25] = 0; + out_2813073183560075211[26] = 0; + out_2813073183560075211[27] = 0; + out_2813073183560075211[28] = 0; + out_2813073183560075211[29] = 0; + out_2813073183560075211[30] = 1; + out_2813073183560075211[31] = 0; + out_2813073183560075211[32] = 0; + out_2813073183560075211[33] = 0; + out_2813073183560075211[34] = 0; + out_2813073183560075211[35] = 0; + out_2813073183560075211[36] = 0; + out_2813073183560075211[37] = 0; + out_2813073183560075211[38] = 0; + out_2813073183560075211[39] = 0; + out_2813073183560075211[40] = 1; + out_2813073183560075211[41] = 0; + out_2813073183560075211[42] = 0; + out_2813073183560075211[43] = 0; + out_2813073183560075211[44] = 0; + out_2813073183560075211[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_2813073183560075211[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2813073183560075211[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2813073183560075211[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2813073183560075211[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_2813073183560075211[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2813073183560075211[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2813073183560075211[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2813073183560075211[53] = -9.8100000000000005*dt; + out_2813073183560075211[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_2813073183560075211[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2813073183560075211[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2813073183560075211[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2813073183560075211[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_2813073183560075211[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2813073183560075211[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_2813073183560075211[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2813073183560075211[62] = 0; + out_2813073183560075211[63] = 0; + out_2813073183560075211[64] = 0; + out_2813073183560075211[65] = 0; + out_2813073183560075211[66] = 0; + out_2813073183560075211[67] = 0; + out_2813073183560075211[68] = 0; + out_2813073183560075211[69] = 0; + out_2813073183560075211[70] = 1; + out_2813073183560075211[71] = 0; + out_2813073183560075211[72] = 0; + out_2813073183560075211[73] = 0; + out_2813073183560075211[74] = 0; + out_2813073183560075211[75] = 0; + out_2813073183560075211[76] = 0; + out_2813073183560075211[77] = 0; + out_2813073183560075211[78] = 0; + out_2813073183560075211[79] = 0; + out_2813073183560075211[80] = 1; } -void h_25(double *state, double *unused, double *out_650360746861026872) { - out_650360746861026872[0] = state[6]; +void h_25(double *state, double *unused, double *out_658669783575432838) { + out_658669783575432838[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5521925448974425183) { - out_5521925448974425183[0] = 0; - out_5521925448974425183[1] = 0; - out_5521925448974425183[2] = 0; - out_5521925448974425183[3] = 0; - out_5521925448974425183[4] = 0; - out_5521925448974425183[5] = 0; - out_5521925448974425183[6] = 1; - out_5521925448974425183[7] = 0; - out_5521925448974425183[8] = 0; +void H_25(double *state, double *unused, double *out_430482338979036687) { + out_430482338979036687[0] = 0; + out_430482338979036687[1] = 0; + out_430482338979036687[2] = 0; + out_430482338979036687[3] = 0; + out_430482338979036687[4] = 0; + out_430482338979036687[5] = 0; + out_430482338979036687[6] = 1; + out_430482338979036687[7] = 0; + out_430482338979036687[8] = 0; } -void h_24(double *state, double *unused, double *out_6354297212728781983) { - out_6354297212728781983[0] = state[4]; - out_6354297212728781983[1] = state[5]; +void h_24(double *state, double *unused, double *out_5825414391673489257) { + out_5825414391673489257[0] = state[4]; + out_5825414391673489257[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1963999850172102047) { - out_1963999850172102047[0] = 0; - out_1963999850172102047[1] = 0; - out_1963999850172102047[2] = 0; - out_1963999850172102047[3] = 0; - out_1963999850172102047[4] = 1; - out_1963999850172102047[5] = 0; - out_1963999850172102047[6] = 0; - out_1963999850172102047[7] = 0; - out_1963999850172102047[8] = 0; - out_1963999850172102047[9] = 0; - out_1963999850172102047[10] = 0; - out_1963999850172102047[11] = 0; - out_1963999850172102047[12] = 0; - out_1963999850172102047[13] = 0; - out_1963999850172102047[14] = 1; - out_1963999850172102047[15] = 0; - out_1963999850172102047[16] = 0; - out_1963999850172102047[17] = 0; +void H_24(double *state, double *unused, double *out_1795225444999831875) { + out_1795225444999831875[0] = 0; + out_1795225444999831875[1] = 0; + out_1795225444999831875[2] = 0; + out_1795225444999831875[3] = 0; + out_1795225444999831875[4] = 1; + out_1795225444999831875[5] = 0; + out_1795225444999831875[6] = 0; + out_1795225444999831875[7] = 0; + out_1795225444999831875[8] = 0; + out_1795225444999831875[9] = 0; + out_1795225444999831875[10] = 0; + out_1795225444999831875[11] = 0; + out_1795225444999831875[12] = 0; + out_1795225444999831875[13] = 0; + out_1795225444999831875[14] = 1; + out_1795225444999831875[15] = 0; + out_1795225444999831875[16] = 0; + out_1795225444999831875[17] = 0; } -void h_30(double *state, double *unused, double *out_5144912474794651785) { - out_5144912474794651785[0] = state[4]; +void h_30(double *state, double *unused, double *out_383475721290926949) { + out_383475721290926949[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1394764892517191572) { - out_1394764892517191572[0] = 0; - out_1394764892517191572[1] = 0; - out_1394764892517191572[2] = 0; - out_1394764892517191572[3] = 0; - out_1394764892517191572[4] = 1; - out_1394764892517191572[5] = 0; - out_1394764892517191572[6] = 0; - out_1394764892517191572[7] = 0; - out_1394764892517191572[8] = 0; +void H_30(double *state, double *unused, double *out_6486208002512580068) { + out_6486208002512580068[0] = 0; + out_6486208002512580068[1] = 0; + out_6486208002512580068[2] = 0; + out_6486208002512580068[3] = 0; + out_6486208002512580068[4] = 1; + out_6486208002512580068[5] = 0; + out_6486208002512580068[6] = 0; + out_6486208002512580068[7] = 0; + out_6486208002512580068[8] = 0; } -void h_26(double *state, double *unused, double *out_4541596590118174268) { - out_4541596590118174268[0] = state[7]; +void h_26(double *state, double *unused, double *out_4460551706629794316) { + out_4460551706629794316[0] = state[7]; } -void H_26(double *state, double *unused, double *out_9183315305861070209) { - out_9183315305861070209[0] = 0; - out_9183315305861070209[1] = 0; - out_9183315305861070209[2] = 0; - out_9183315305861070209[3] = 0; - out_9183315305861070209[4] = 0; - out_9183315305861070209[5] = 0; - out_9183315305861070209[6] = 0; - out_9183315305861070209[7] = 1; - out_9183315305861070209[8] = 0; +void H_26(double *state, double *unused, double *out_4171985657853092911) { + out_4171985657853092911[0] = 0; + out_4171985657853092911[1] = 0; + out_4171985657853092911[2] = 0; + out_4171985657853092911[3] = 0; + out_4171985657853092911[4] = 0; + out_4171985657853092911[5] = 0; + out_4171985657853092911[6] = 0; + out_4171985657853092911[7] = 1; + out_4171985657853092911[8] = 0; } -void h_27(double *state, double *unused, double *out_2386425304583305813) { - out_2386425304583305813[0] = state[3]; +void h_27(double *state, double *unused, double *out_4343003484085412807) { + out_4343003484085412807[0] = state[3]; } -void H_27(double *state, double *unused, double *out_779998419283233339) { - out_779998419283233339[0] = 0; - out_779998419283233339[1] = 0; - out_779998419283233339[2] = 0; - out_779998419283233339[3] = 1; - out_779998419283233339[4] = 0; - out_779998419283233339[5] = 0; - out_779998419283233339[6] = 0; - out_779998419283233339[7] = 0; - out_779998419283233339[8] = 0; +void H_27(double *state, double *unused, double *out_4311444690712155157) { + out_4311444690712155157[0] = 0; + out_4311444690712155157[1] = 0; + out_4311444690712155157[2] = 0; + out_4311444690712155157[3] = 1; + out_4311444690712155157[4] = 0; + out_4311444690712155157[5] = 0; + out_4311444690712155157[6] = 0; + out_4311444690712155157[7] = 0; + out_4311444690712155157[8] = 0; } -void h_29(double *state, double *unused, double *out_4201402621892989350) { - out_4201402621892989350[0] = state[1]; +void h_29(double *state, double *unused, double *out_4618197546369918696) { + out_4618197546369918696[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1904996236831583756) { - out_1904996236831583756[0] = 0; - out_1904996236831583756[1] = 1; - out_1904996236831583756[2] = 0; - out_1904996236831583756[3] = 0; - out_1904996236831583756[4] = 0; - out_1904996236831583756[5] = 0; - out_1904996236831583756[6] = 0; - out_1904996236831583756[7] = 0; - out_1904996236831583756[8] = 0; +void H_29(double *state, double *unused, double *out_6996439346826972252) { + out_6996439346826972252[0] = 0; + out_6996439346826972252[1] = 1; + out_6996439346826972252[2] = 0; + out_6996439346826972252[3] = 0; + out_6996439346826972252[4] = 0; + out_6996439346826972252[5] = 0; + out_6996439346826972252[6] = 0; + out_6996439346826972252[7] = 0; + out_6996439346826972252[8] = 0; } -void h_28(double *state, double *unused, double *out_1783109419906828296) { - out_1783109419906828296[0] = state[0]; +void h_28(double *state, double *unused, double *out_3399493631183750372) { + out_3399493631183750372[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3177402780237946818) { - out_3177402780237946818[0] = 1; - out_3177402780237946818[1] = 0; - out_3177402780237946818[2] = 0; - out_3177402780237946818[3] = 0; - out_3177402780237946818[4] = 0; - out_3177402780237946818[5] = 0; - out_3177402780237946818[6] = 0; - out_3177402780237946818[7] = 0; - out_3177402780237946818[8] = 0; +void H_28(double *state, double *unused, double *out_1914040329757441678) { + out_1914040329757441678[0] = 1; + out_1914040329757441678[1] = 0; + out_1914040329757441678[2] = 0; + out_1914040329757441678[3] = 0; + out_1914040329757441678[4] = 0; + out_1914040329757441678[5] = 0; + out_1914040329757441678[6] = 0; + out_1914040329757441678[7] = 0; + out_1914040329757441678[8] = 0; } -void h_31(double *state, double *unused, double *out_7421195973211377808) { - out_7421195973211377808[0] = state[8]; +void h_31(double *state, double *unused, double *out_501483115224303693) { + out_501483115224303693[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5491279487097464755) { - out_5491279487097464755[0] = 0; - out_5491279487097464755[1] = 0; - out_5491279487097464755[2] = 0; - out_5491279487097464755[3] = 0; - out_5491279487097464755[4] = 0; - out_5491279487097464755[5] = 0; - out_5491279487097464755[6] = 0; - out_5491279487097464755[7] = 0; - out_5491279487097464755[8] = 1; +void H_31(double *state, double *unused, double *out_399836377102076259) { + out_399836377102076259[0] = 0; + out_399836377102076259[1] = 0; + out_399836377102076259[2] = 0; + out_399836377102076259[3] = 0; + out_399836377102076259[4] = 0; + out_399836377102076259[5] = 0; + out_399836377102076259[6] = 0; + out_399836377102076259[7] = 0; + out_399836377102076259[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_5870650175258852411) { - err_fun(nom_x, delta_x, out_5870650175258852411); +void car_err_fun(double *nom_x, double *delta_x, double *out_3753506106150578989) { + err_fun(nom_x, delta_x, out_3753506106150578989); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3265729657434381044) { - inv_err_fun(nom_x, true_x, out_3265729657434381044); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1593625426676531654) { + inv_err_fun(nom_x, true_x, out_1593625426676531654); } -void car_H_mod_fun(double *state, double *out_8559018147660225964) { - H_mod_fun(state, out_8559018147660225964); +void car_H_mod_fun(double *state, double *out_8762705886933200550) { + H_mod_fun(state, out_8762705886933200550); } -void car_f_fun(double *state, double dt, double *out_1736737013642959687) { - f_fun(state, dt, out_1736737013642959687); +void car_f_fun(double *state, double dt, double *out_5029070318695641969) { + f_fun(state, dt, out_5029070318695641969); } -void car_F_fun(double *state, double dt, double *out_2126390936971804335) { - F_fun(state, dt, out_2126390936971804335); +void car_F_fun(double *state, double dt, double *out_2813073183560075211) { + F_fun(state, dt, out_2813073183560075211); } -void car_h_25(double *state, double *unused, double *out_650360746861026872) { - h_25(state, unused, out_650360746861026872); +void car_h_25(double *state, double *unused, double *out_658669783575432838) { + h_25(state, unused, out_658669783575432838); } -void car_H_25(double *state, double *unused, double *out_5521925448974425183) { - H_25(state, unused, out_5521925448974425183); +void car_H_25(double *state, double *unused, double *out_430482338979036687) { + H_25(state, unused, out_430482338979036687); } -void car_h_24(double *state, double *unused, double *out_6354297212728781983) { - h_24(state, unused, out_6354297212728781983); +void car_h_24(double *state, double *unused, double *out_5825414391673489257) { + h_24(state, unused, out_5825414391673489257); } -void car_H_24(double *state, double *unused, double *out_1963999850172102047) { - H_24(state, unused, out_1963999850172102047); +void car_H_24(double *state, double *unused, double *out_1795225444999831875) { + H_24(state, unused, out_1795225444999831875); } -void car_h_30(double *state, double *unused, double *out_5144912474794651785) { - h_30(state, unused, out_5144912474794651785); +void car_h_30(double *state, double *unused, double *out_383475721290926949) { + h_30(state, unused, out_383475721290926949); } -void car_H_30(double *state, double *unused, double *out_1394764892517191572) { - H_30(state, unused, out_1394764892517191572); +void car_H_30(double *state, double *unused, double *out_6486208002512580068) { + H_30(state, unused, out_6486208002512580068); } -void car_h_26(double *state, double *unused, double *out_4541596590118174268) { - h_26(state, unused, out_4541596590118174268); +void car_h_26(double *state, double *unused, double *out_4460551706629794316) { + h_26(state, unused, out_4460551706629794316); } -void car_H_26(double *state, double *unused, double *out_9183315305861070209) { - H_26(state, unused, out_9183315305861070209); +void car_H_26(double *state, double *unused, double *out_4171985657853092911) { + H_26(state, unused, out_4171985657853092911); } -void car_h_27(double *state, double *unused, double *out_2386425304583305813) { - h_27(state, unused, out_2386425304583305813); +void car_h_27(double *state, double *unused, double *out_4343003484085412807) { + h_27(state, unused, out_4343003484085412807); } -void car_H_27(double *state, double *unused, double *out_779998419283233339) { - H_27(state, unused, out_779998419283233339); +void car_H_27(double *state, double *unused, double *out_4311444690712155157) { + H_27(state, unused, out_4311444690712155157); } -void car_h_29(double *state, double *unused, double *out_4201402621892989350) { - h_29(state, unused, out_4201402621892989350); +void car_h_29(double *state, double *unused, double *out_4618197546369918696) { + h_29(state, unused, out_4618197546369918696); } -void car_H_29(double *state, double *unused, double *out_1904996236831583756) { - H_29(state, unused, out_1904996236831583756); +void car_H_29(double *state, double *unused, double *out_6996439346826972252) { + H_29(state, unused, out_6996439346826972252); } -void car_h_28(double *state, double *unused, double *out_1783109419906828296) { - h_28(state, unused, out_1783109419906828296); +void car_h_28(double *state, double *unused, double *out_3399493631183750372) { + h_28(state, unused, out_3399493631183750372); } -void car_H_28(double *state, double *unused, double *out_3177402780237946818) { - H_28(state, unused, out_3177402780237946818); +void car_H_28(double *state, double *unused, double *out_1914040329757441678) { + H_28(state, unused, out_1914040329757441678); } -void car_h_31(double *state, double *unused, double *out_7421195973211377808) { - h_31(state, unused, out_7421195973211377808); +void car_h_31(double *state, double *unused, double *out_501483115224303693) { + h_31(state, unused, out_501483115224303693); } -void car_H_31(double *state, double *unused, double *out_5491279487097464755) { - H_31(state, unused, out_5491279487097464755); +void car_H_31(double *state, double *unused, double *out_399836377102076259) { + H_31(state, unused, out_399836377102076259); } 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 463cf5ed5..efe61e81d 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_5870650175258852411); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3265729657434381044); -void car_H_mod_fun(double *state, double *out_8559018147660225964); -void car_f_fun(double *state, double dt, double *out_1736737013642959687); -void car_F_fun(double *state, double dt, double *out_2126390936971804335); -void car_h_25(double *state, double *unused, double *out_650360746861026872); -void car_H_25(double *state, double *unused, double *out_5521925448974425183); -void car_h_24(double *state, double *unused, double *out_6354297212728781983); -void car_H_24(double *state, double *unused, double *out_1963999850172102047); -void car_h_30(double *state, double *unused, double *out_5144912474794651785); -void car_H_30(double *state, double *unused, double *out_1394764892517191572); -void car_h_26(double *state, double *unused, double *out_4541596590118174268); -void car_H_26(double *state, double *unused, double *out_9183315305861070209); -void car_h_27(double *state, double *unused, double *out_2386425304583305813); -void car_H_27(double *state, double *unused, double *out_779998419283233339); -void car_h_29(double *state, double *unused, double *out_4201402621892989350); -void car_H_29(double *state, double *unused, double *out_1904996236831583756); -void car_h_28(double *state, double *unused, double *out_1783109419906828296); -void car_H_28(double *state, double *unused, double *out_3177402780237946818); -void car_h_31(double *state, double *unused, double *out_7421195973211377808); -void car_H_31(double *state, double *unused, double *out_5491279487097464755); +void car_err_fun(double *nom_x, double *delta_x, double *out_3753506106150578989); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1593625426676531654); +void car_H_mod_fun(double *state, double *out_8762705886933200550); +void car_f_fun(double *state, double dt, double *out_5029070318695641969); +void car_F_fun(double *state, double dt, double *out_2813073183560075211); +void car_h_25(double *state, double *unused, double *out_658669783575432838); +void car_H_25(double *state, double *unused, double *out_430482338979036687); +void car_h_24(double *state, double *unused, double *out_5825414391673489257); +void car_H_24(double *state, double *unused, double *out_1795225444999831875); +void car_h_30(double *state, double *unused, double *out_383475721290926949); +void car_H_30(double *state, double *unused, double *out_6486208002512580068); +void car_h_26(double *state, double *unused, double *out_4460551706629794316); +void car_H_26(double *state, double *unused, double *out_4171985657853092911); +void car_h_27(double *state, double *unused, double *out_4343003484085412807); +void car_H_27(double *state, double *unused, double *out_4311444690712155157); +void car_h_29(double *state, double *unused, double *out_4618197546369918696); +void car_H_29(double *state, double *unused, double *out_6996439346826972252); +void car_h_28(double *state, double *unused, double *out_3399493631183750372); +void car_H_28(double *state, double *unused, double *out_1914040329757441678); +void car_h_31(double *state, double *unused, double *out_501483115224303693); +void car_H_31(double *state, double *unused, double *out_399836377102076259); 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 a49f2e74e..d810c45fe 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_7958882747940958001) { - out_7958882747940958001[0] = delta_x[0] + nom_x[0]; - out_7958882747940958001[1] = delta_x[1] + nom_x[1]; - out_7958882747940958001[2] = delta_x[2] + nom_x[2]; - out_7958882747940958001[3] = delta_x[3] + nom_x[3]; - out_7958882747940958001[4] = delta_x[4] + nom_x[4]; - out_7958882747940958001[5] = delta_x[5] + nom_x[5]; - out_7958882747940958001[6] = delta_x[6] + nom_x[6]; - out_7958882747940958001[7] = delta_x[7] + nom_x[7]; - out_7958882747940958001[8] = delta_x[8] + nom_x[8]; - out_7958882747940958001[9] = delta_x[9] + nom_x[9]; - out_7958882747940958001[10] = delta_x[10] + nom_x[10]; - out_7958882747940958001[11] = delta_x[11] + nom_x[11]; - out_7958882747940958001[12] = delta_x[12] + nom_x[12]; - out_7958882747940958001[13] = delta_x[13] + nom_x[13]; - out_7958882747940958001[14] = delta_x[14] + nom_x[14]; - out_7958882747940958001[15] = delta_x[15] + nom_x[15]; - out_7958882747940958001[16] = delta_x[16] + nom_x[16]; - out_7958882747940958001[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1384224859777021071) { + out_1384224859777021071[0] = delta_x[0] + nom_x[0]; + out_1384224859777021071[1] = delta_x[1] + nom_x[1]; + out_1384224859777021071[2] = delta_x[2] + nom_x[2]; + out_1384224859777021071[3] = delta_x[3] + nom_x[3]; + out_1384224859777021071[4] = delta_x[4] + nom_x[4]; + out_1384224859777021071[5] = delta_x[5] + nom_x[5]; + out_1384224859777021071[6] = delta_x[6] + nom_x[6]; + out_1384224859777021071[7] = delta_x[7] + nom_x[7]; + out_1384224859777021071[8] = delta_x[8] + nom_x[8]; + out_1384224859777021071[9] = delta_x[9] + nom_x[9]; + out_1384224859777021071[10] = delta_x[10] + nom_x[10]; + out_1384224859777021071[11] = delta_x[11] + nom_x[11]; + out_1384224859777021071[12] = delta_x[12] + nom_x[12]; + out_1384224859777021071[13] = delta_x[13] + nom_x[13]; + out_1384224859777021071[14] = delta_x[14] + nom_x[14]; + out_1384224859777021071[15] = delta_x[15] + nom_x[15]; + out_1384224859777021071[16] = delta_x[16] + nom_x[16]; + out_1384224859777021071[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4703319146697471116) { - out_4703319146697471116[0] = -nom_x[0] + true_x[0]; - out_4703319146697471116[1] = -nom_x[1] + true_x[1]; - out_4703319146697471116[2] = -nom_x[2] + true_x[2]; - out_4703319146697471116[3] = -nom_x[3] + true_x[3]; - out_4703319146697471116[4] = -nom_x[4] + true_x[4]; - out_4703319146697471116[5] = -nom_x[5] + true_x[5]; - out_4703319146697471116[6] = -nom_x[6] + true_x[6]; - out_4703319146697471116[7] = -nom_x[7] + true_x[7]; - out_4703319146697471116[8] = -nom_x[8] + true_x[8]; - out_4703319146697471116[9] = -nom_x[9] + true_x[9]; - out_4703319146697471116[10] = -nom_x[10] + true_x[10]; - out_4703319146697471116[11] = -nom_x[11] + true_x[11]; - out_4703319146697471116[12] = -nom_x[12] + true_x[12]; - out_4703319146697471116[13] = -nom_x[13] + true_x[13]; - out_4703319146697471116[14] = -nom_x[14] + true_x[14]; - out_4703319146697471116[15] = -nom_x[15] + true_x[15]; - out_4703319146697471116[16] = -nom_x[16] + true_x[16]; - out_4703319146697471116[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6553735098488367695) { + out_6553735098488367695[0] = -nom_x[0] + true_x[0]; + out_6553735098488367695[1] = -nom_x[1] + true_x[1]; + out_6553735098488367695[2] = -nom_x[2] + true_x[2]; + out_6553735098488367695[3] = -nom_x[3] + true_x[3]; + out_6553735098488367695[4] = -nom_x[4] + true_x[4]; + out_6553735098488367695[5] = -nom_x[5] + true_x[5]; + out_6553735098488367695[6] = -nom_x[6] + true_x[6]; + out_6553735098488367695[7] = -nom_x[7] + true_x[7]; + out_6553735098488367695[8] = -nom_x[8] + true_x[8]; + out_6553735098488367695[9] = -nom_x[9] + true_x[9]; + out_6553735098488367695[10] = -nom_x[10] + true_x[10]; + out_6553735098488367695[11] = -nom_x[11] + true_x[11]; + out_6553735098488367695[12] = -nom_x[12] + true_x[12]; + out_6553735098488367695[13] = -nom_x[13] + true_x[13]; + out_6553735098488367695[14] = -nom_x[14] + true_x[14]; + out_6553735098488367695[15] = -nom_x[15] + true_x[15]; + out_6553735098488367695[16] = -nom_x[16] + true_x[16]; + out_6553735098488367695[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_656327009382969529) { - out_656327009382969529[0] = 1.0; - out_656327009382969529[1] = 0.0; - out_656327009382969529[2] = 0.0; - out_656327009382969529[3] = 0.0; - out_656327009382969529[4] = 0.0; - out_656327009382969529[5] = 0.0; - out_656327009382969529[6] = 0.0; - out_656327009382969529[7] = 0.0; - out_656327009382969529[8] = 0.0; - out_656327009382969529[9] = 0.0; - out_656327009382969529[10] = 0.0; - out_656327009382969529[11] = 0.0; - out_656327009382969529[12] = 0.0; - out_656327009382969529[13] = 0.0; - out_656327009382969529[14] = 0.0; - out_656327009382969529[15] = 0.0; - out_656327009382969529[16] = 0.0; - out_656327009382969529[17] = 0.0; - out_656327009382969529[18] = 0.0; - out_656327009382969529[19] = 1.0; - out_656327009382969529[20] = 0.0; - out_656327009382969529[21] = 0.0; - out_656327009382969529[22] = 0.0; - out_656327009382969529[23] = 0.0; - out_656327009382969529[24] = 0.0; - out_656327009382969529[25] = 0.0; - out_656327009382969529[26] = 0.0; - out_656327009382969529[27] = 0.0; - out_656327009382969529[28] = 0.0; - out_656327009382969529[29] = 0.0; - out_656327009382969529[30] = 0.0; - out_656327009382969529[31] = 0.0; - out_656327009382969529[32] = 0.0; - out_656327009382969529[33] = 0.0; - out_656327009382969529[34] = 0.0; - out_656327009382969529[35] = 0.0; - out_656327009382969529[36] = 0.0; - out_656327009382969529[37] = 0.0; - out_656327009382969529[38] = 1.0; - out_656327009382969529[39] = 0.0; - out_656327009382969529[40] = 0.0; - out_656327009382969529[41] = 0.0; - out_656327009382969529[42] = 0.0; - out_656327009382969529[43] = 0.0; - out_656327009382969529[44] = 0.0; - out_656327009382969529[45] = 0.0; - out_656327009382969529[46] = 0.0; - out_656327009382969529[47] = 0.0; - out_656327009382969529[48] = 0.0; - out_656327009382969529[49] = 0.0; - out_656327009382969529[50] = 0.0; - out_656327009382969529[51] = 0.0; - out_656327009382969529[52] = 0.0; - out_656327009382969529[53] = 0.0; - out_656327009382969529[54] = 0.0; - out_656327009382969529[55] = 0.0; - out_656327009382969529[56] = 0.0; - out_656327009382969529[57] = 1.0; - out_656327009382969529[58] = 0.0; - out_656327009382969529[59] = 0.0; - out_656327009382969529[60] = 0.0; - out_656327009382969529[61] = 0.0; - out_656327009382969529[62] = 0.0; - out_656327009382969529[63] = 0.0; - out_656327009382969529[64] = 0.0; - out_656327009382969529[65] = 0.0; - out_656327009382969529[66] = 0.0; - out_656327009382969529[67] = 0.0; - out_656327009382969529[68] = 0.0; - out_656327009382969529[69] = 0.0; - out_656327009382969529[70] = 0.0; - out_656327009382969529[71] = 0.0; - out_656327009382969529[72] = 0.0; - out_656327009382969529[73] = 0.0; - out_656327009382969529[74] = 0.0; - out_656327009382969529[75] = 0.0; - out_656327009382969529[76] = 1.0; - out_656327009382969529[77] = 0.0; - out_656327009382969529[78] = 0.0; - out_656327009382969529[79] = 0.0; - out_656327009382969529[80] = 0.0; - out_656327009382969529[81] = 0.0; - out_656327009382969529[82] = 0.0; - out_656327009382969529[83] = 0.0; - out_656327009382969529[84] = 0.0; - out_656327009382969529[85] = 0.0; - out_656327009382969529[86] = 0.0; - out_656327009382969529[87] = 0.0; - out_656327009382969529[88] = 0.0; - out_656327009382969529[89] = 0.0; - out_656327009382969529[90] = 0.0; - out_656327009382969529[91] = 0.0; - out_656327009382969529[92] = 0.0; - out_656327009382969529[93] = 0.0; - out_656327009382969529[94] = 0.0; - out_656327009382969529[95] = 1.0; - out_656327009382969529[96] = 0.0; - out_656327009382969529[97] = 0.0; - out_656327009382969529[98] = 0.0; - out_656327009382969529[99] = 0.0; - out_656327009382969529[100] = 0.0; - out_656327009382969529[101] = 0.0; - out_656327009382969529[102] = 0.0; - out_656327009382969529[103] = 0.0; - out_656327009382969529[104] = 0.0; - out_656327009382969529[105] = 0.0; - out_656327009382969529[106] = 0.0; - out_656327009382969529[107] = 0.0; - out_656327009382969529[108] = 0.0; - out_656327009382969529[109] = 0.0; - out_656327009382969529[110] = 0.0; - out_656327009382969529[111] = 0.0; - out_656327009382969529[112] = 0.0; - out_656327009382969529[113] = 0.0; - out_656327009382969529[114] = 1.0; - out_656327009382969529[115] = 0.0; - out_656327009382969529[116] = 0.0; - out_656327009382969529[117] = 0.0; - out_656327009382969529[118] = 0.0; - out_656327009382969529[119] = 0.0; - out_656327009382969529[120] = 0.0; - out_656327009382969529[121] = 0.0; - out_656327009382969529[122] = 0.0; - out_656327009382969529[123] = 0.0; - out_656327009382969529[124] = 0.0; - out_656327009382969529[125] = 0.0; - out_656327009382969529[126] = 0.0; - out_656327009382969529[127] = 0.0; - out_656327009382969529[128] = 0.0; - out_656327009382969529[129] = 0.0; - out_656327009382969529[130] = 0.0; - out_656327009382969529[131] = 0.0; - out_656327009382969529[132] = 0.0; - out_656327009382969529[133] = 1.0; - out_656327009382969529[134] = 0.0; - out_656327009382969529[135] = 0.0; - out_656327009382969529[136] = 0.0; - out_656327009382969529[137] = 0.0; - out_656327009382969529[138] = 0.0; - out_656327009382969529[139] = 0.0; - out_656327009382969529[140] = 0.0; - out_656327009382969529[141] = 0.0; - out_656327009382969529[142] = 0.0; - out_656327009382969529[143] = 0.0; - out_656327009382969529[144] = 0.0; - out_656327009382969529[145] = 0.0; - out_656327009382969529[146] = 0.0; - out_656327009382969529[147] = 0.0; - out_656327009382969529[148] = 0.0; - out_656327009382969529[149] = 0.0; - out_656327009382969529[150] = 0.0; - out_656327009382969529[151] = 0.0; - out_656327009382969529[152] = 1.0; - out_656327009382969529[153] = 0.0; - out_656327009382969529[154] = 0.0; - out_656327009382969529[155] = 0.0; - out_656327009382969529[156] = 0.0; - out_656327009382969529[157] = 0.0; - out_656327009382969529[158] = 0.0; - out_656327009382969529[159] = 0.0; - out_656327009382969529[160] = 0.0; - out_656327009382969529[161] = 0.0; - out_656327009382969529[162] = 0.0; - out_656327009382969529[163] = 0.0; - out_656327009382969529[164] = 0.0; - out_656327009382969529[165] = 0.0; - out_656327009382969529[166] = 0.0; - out_656327009382969529[167] = 0.0; - out_656327009382969529[168] = 0.0; - out_656327009382969529[169] = 0.0; - out_656327009382969529[170] = 0.0; - out_656327009382969529[171] = 1.0; - out_656327009382969529[172] = 0.0; - out_656327009382969529[173] = 0.0; - out_656327009382969529[174] = 0.0; - out_656327009382969529[175] = 0.0; - out_656327009382969529[176] = 0.0; - out_656327009382969529[177] = 0.0; - out_656327009382969529[178] = 0.0; - out_656327009382969529[179] = 0.0; - out_656327009382969529[180] = 0.0; - out_656327009382969529[181] = 0.0; - out_656327009382969529[182] = 0.0; - out_656327009382969529[183] = 0.0; - out_656327009382969529[184] = 0.0; - out_656327009382969529[185] = 0.0; - out_656327009382969529[186] = 0.0; - out_656327009382969529[187] = 0.0; - out_656327009382969529[188] = 0.0; - out_656327009382969529[189] = 0.0; - out_656327009382969529[190] = 1.0; - out_656327009382969529[191] = 0.0; - out_656327009382969529[192] = 0.0; - out_656327009382969529[193] = 0.0; - out_656327009382969529[194] = 0.0; - out_656327009382969529[195] = 0.0; - out_656327009382969529[196] = 0.0; - out_656327009382969529[197] = 0.0; - out_656327009382969529[198] = 0.0; - out_656327009382969529[199] = 0.0; - out_656327009382969529[200] = 0.0; - out_656327009382969529[201] = 0.0; - out_656327009382969529[202] = 0.0; - out_656327009382969529[203] = 0.0; - out_656327009382969529[204] = 0.0; - out_656327009382969529[205] = 0.0; - out_656327009382969529[206] = 0.0; - out_656327009382969529[207] = 0.0; - out_656327009382969529[208] = 0.0; - out_656327009382969529[209] = 1.0; - out_656327009382969529[210] = 0.0; - out_656327009382969529[211] = 0.0; - out_656327009382969529[212] = 0.0; - out_656327009382969529[213] = 0.0; - out_656327009382969529[214] = 0.0; - out_656327009382969529[215] = 0.0; - out_656327009382969529[216] = 0.0; - out_656327009382969529[217] = 0.0; - out_656327009382969529[218] = 0.0; - out_656327009382969529[219] = 0.0; - out_656327009382969529[220] = 0.0; - out_656327009382969529[221] = 0.0; - out_656327009382969529[222] = 0.0; - out_656327009382969529[223] = 0.0; - out_656327009382969529[224] = 0.0; - out_656327009382969529[225] = 0.0; - out_656327009382969529[226] = 0.0; - out_656327009382969529[227] = 0.0; - out_656327009382969529[228] = 1.0; - out_656327009382969529[229] = 0.0; - out_656327009382969529[230] = 0.0; - out_656327009382969529[231] = 0.0; - out_656327009382969529[232] = 0.0; - out_656327009382969529[233] = 0.0; - out_656327009382969529[234] = 0.0; - out_656327009382969529[235] = 0.0; - out_656327009382969529[236] = 0.0; - out_656327009382969529[237] = 0.0; - out_656327009382969529[238] = 0.0; - out_656327009382969529[239] = 0.0; - out_656327009382969529[240] = 0.0; - out_656327009382969529[241] = 0.0; - out_656327009382969529[242] = 0.0; - out_656327009382969529[243] = 0.0; - out_656327009382969529[244] = 0.0; - out_656327009382969529[245] = 0.0; - out_656327009382969529[246] = 0.0; - out_656327009382969529[247] = 1.0; - out_656327009382969529[248] = 0.0; - out_656327009382969529[249] = 0.0; - out_656327009382969529[250] = 0.0; - out_656327009382969529[251] = 0.0; - out_656327009382969529[252] = 0.0; - out_656327009382969529[253] = 0.0; - out_656327009382969529[254] = 0.0; - out_656327009382969529[255] = 0.0; - out_656327009382969529[256] = 0.0; - out_656327009382969529[257] = 0.0; - out_656327009382969529[258] = 0.0; - out_656327009382969529[259] = 0.0; - out_656327009382969529[260] = 0.0; - out_656327009382969529[261] = 0.0; - out_656327009382969529[262] = 0.0; - out_656327009382969529[263] = 0.0; - out_656327009382969529[264] = 0.0; - out_656327009382969529[265] = 0.0; - out_656327009382969529[266] = 1.0; - out_656327009382969529[267] = 0.0; - out_656327009382969529[268] = 0.0; - out_656327009382969529[269] = 0.0; - out_656327009382969529[270] = 0.0; - out_656327009382969529[271] = 0.0; - out_656327009382969529[272] = 0.0; - out_656327009382969529[273] = 0.0; - out_656327009382969529[274] = 0.0; - out_656327009382969529[275] = 0.0; - out_656327009382969529[276] = 0.0; - out_656327009382969529[277] = 0.0; - out_656327009382969529[278] = 0.0; - out_656327009382969529[279] = 0.0; - out_656327009382969529[280] = 0.0; - out_656327009382969529[281] = 0.0; - out_656327009382969529[282] = 0.0; - out_656327009382969529[283] = 0.0; - out_656327009382969529[284] = 0.0; - out_656327009382969529[285] = 1.0; - out_656327009382969529[286] = 0.0; - out_656327009382969529[287] = 0.0; - out_656327009382969529[288] = 0.0; - out_656327009382969529[289] = 0.0; - out_656327009382969529[290] = 0.0; - out_656327009382969529[291] = 0.0; - out_656327009382969529[292] = 0.0; - out_656327009382969529[293] = 0.0; - out_656327009382969529[294] = 0.0; - out_656327009382969529[295] = 0.0; - out_656327009382969529[296] = 0.0; - out_656327009382969529[297] = 0.0; - out_656327009382969529[298] = 0.0; - out_656327009382969529[299] = 0.0; - out_656327009382969529[300] = 0.0; - out_656327009382969529[301] = 0.0; - out_656327009382969529[302] = 0.0; - out_656327009382969529[303] = 0.0; - out_656327009382969529[304] = 1.0; - out_656327009382969529[305] = 0.0; - out_656327009382969529[306] = 0.0; - out_656327009382969529[307] = 0.0; - out_656327009382969529[308] = 0.0; - out_656327009382969529[309] = 0.0; - out_656327009382969529[310] = 0.0; - out_656327009382969529[311] = 0.0; - out_656327009382969529[312] = 0.0; - out_656327009382969529[313] = 0.0; - out_656327009382969529[314] = 0.0; - out_656327009382969529[315] = 0.0; - out_656327009382969529[316] = 0.0; - out_656327009382969529[317] = 0.0; - out_656327009382969529[318] = 0.0; - out_656327009382969529[319] = 0.0; - out_656327009382969529[320] = 0.0; - out_656327009382969529[321] = 0.0; - out_656327009382969529[322] = 0.0; - out_656327009382969529[323] = 1.0; +void H_mod_fun(double *state, double *out_7066952806100897033) { + out_7066952806100897033[0] = 1.0; + out_7066952806100897033[1] = 0.0; + out_7066952806100897033[2] = 0.0; + out_7066952806100897033[3] = 0.0; + out_7066952806100897033[4] = 0.0; + out_7066952806100897033[5] = 0.0; + out_7066952806100897033[6] = 0.0; + out_7066952806100897033[7] = 0.0; + out_7066952806100897033[8] = 0.0; + out_7066952806100897033[9] = 0.0; + out_7066952806100897033[10] = 0.0; + out_7066952806100897033[11] = 0.0; + out_7066952806100897033[12] = 0.0; + out_7066952806100897033[13] = 0.0; + out_7066952806100897033[14] = 0.0; + out_7066952806100897033[15] = 0.0; + out_7066952806100897033[16] = 0.0; + out_7066952806100897033[17] = 0.0; + out_7066952806100897033[18] = 0.0; + out_7066952806100897033[19] = 1.0; + out_7066952806100897033[20] = 0.0; + out_7066952806100897033[21] = 0.0; + out_7066952806100897033[22] = 0.0; + out_7066952806100897033[23] = 0.0; + out_7066952806100897033[24] = 0.0; + out_7066952806100897033[25] = 0.0; + out_7066952806100897033[26] = 0.0; + out_7066952806100897033[27] = 0.0; + out_7066952806100897033[28] = 0.0; + out_7066952806100897033[29] = 0.0; + out_7066952806100897033[30] = 0.0; + out_7066952806100897033[31] = 0.0; + out_7066952806100897033[32] = 0.0; + out_7066952806100897033[33] = 0.0; + out_7066952806100897033[34] = 0.0; + out_7066952806100897033[35] = 0.0; + out_7066952806100897033[36] = 0.0; + out_7066952806100897033[37] = 0.0; + out_7066952806100897033[38] = 1.0; + out_7066952806100897033[39] = 0.0; + out_7066952806100897033[40] = 0.0; + out_7066952806100897033[41] = 0.0; + out_7066952806100897033[42] = 0.0; + out_7066952806100897033[43] = 0.0; + out_7066952806100897033[44] = 0.0; + out_7066952806100897033[45] = 0.0; + out_7066952806100897033[46] = 0.0; + out_7066952806100897033[47] = 0.0; + out_7066952806100897033[48] = 0.0; + out_7066952806100897033[49] = 0.0; + out_7066952806100897033[50] = 0.0; + out_7066952806100897033[51] = 0.0; + out_7066952806100897033[52] = 0.0; + out_7066952806100897033[53] = 0.0; + out_7066952806100897033[54] = 0.0; + out_7066952806100897033[55] = 0.0; + out_7066952806100897033[56] = 0.0; + out_7066952806100897033[57] = 1.0; + out_7066952806100897033[58] = 0.0; + out_7066952806100897033[59] = 0.0; + out_7066952806100897033[60] = 0.0; + out_7066952806100897033[61] = 0.0; + out_7066952806100897033[62] = 0.0; + out_7066952806100897033[63] = 0.0; + out_7066952806100897033[64] = 0.0; + out_7066952806100897033[65] = 0.0; + out_7066952806100897033[66] = 0.0; + out_7066952806100897033[67] = 0.0; + out_7066952806100897033[68] = 0.0; + out_7066952806100897033[69] = 0.0; + out_7066952806100897033[70] = 0.0; + out_7066952806100897033[71] = 0.0; + out_7066952806100897033[72] = 0.0; + out_7066952806100897033[73] = 0.0; + out_7066952806100897033[74] = 0.0; + out_7066952806100897033[75] = 0.0; + out_7066952806100897033[76] = 1.0; + out_7066952806100897033[77] = 0.0; + out_7066952806100897033[78] = 0.0; + out_7066952806100897033[79] = 0.0; + out_7066952806100897033[80] = 0.0; + out_7066952806100897033[81] = 0.0; + out_7066952806100897033[82] = 0.0; + out_7066952806100897033[83] = 0.0; + out_7066952806100897033[84] = 0.0; + out_7066952806100897033[85] = 0.0; + out_7066952806100897033[86] = 0.0; + out_7066952806100897033[87] = 0.0; + out_7066952806100897033[88] = 0.0; + out_7066952806100897033[89] = 0.0; + out_7066952806100897033[90] = 0.0; + out_7066952806100897033[91] = 0.0; + out_7066952806100897033[92] = 0.0; + out_7066952806100897033[93] = 0.0; + out_7066952806100897033[94] = 0.0; + out_7066952806100897033[95] = 1.0; + out_7066952806100897033[96] = 0.0; + out_7066952806100897033[97] = 0.0; + out_7066952806100897033[98] = 0.0; + out_7066952806100897033[99] = 0.0; + out_7066952806100897033[100] = 0.0; + out_7066952806100897033[101] = 0.0; + out_7066952806100897033[102] = 0.0; + out_7066952806100897033[103] = 0.0; + out_7066952806100897033[104] = 0.0; + out_7066952806100897033[105] = 0.0; + out_7066952806100897033[106] = 0.0; + out_7066952806100897033[107] = 0.0; + out_7066952806100897033[108] = 0.0; + out_7066952806100897033[109] = 0.0; + out_7066952806100897033[110] = 0.0; + out_7066952806100897033[111] = 0.0; + out_7066952806100897033[112] = 0.0; + out_7066952806100897033[113] = 0.0; + out_7066952806100897033[114] = 1.0; + out_7066952806100897033[115] = 0.0; + out_7066952806100897033[116] = 0.0; + out_7066952806100897033[117] = 0.0; + out_7066952806100897033[118] = 0.0; + out_7066952806100897033[119] = 0.0; + out_7066952806100897033[120] = 0.0; + out_7066952806100897033[121] = 0.0; + out_7066952806100897033[122] = 0.0; + out_7066952806100897033[123] = 0.0; + out_7066952806100897033[124] = 0.0; + out_7066952806100897033[125] = 0.0; + out_7066952806100897033[126] = 0.0; + out_7066952806100897033[127] = 0.0; + out_7066952806100897033[128] = 0.0; + out_7066952806100897033[129] = 0.0; + out_7066952806100897033[130] = 0.0; + out_7066952806100897033[131] = 0.0; + out_7066952806100897033[132] = 0.0; + out_7066952806100897033[133] = 1.0; + out_7066952806100897033[134] = 0.0; + out_7066952806100897033[135] = 0.0; + out_7066952806100897033[136] = 0.0; + out_7066952806100897033[137] = 0.0; + out_7066952806100897033[138] = 0.0; + out_7066952806100897033[139] = 0.0; + out_7066952806100897033[140] = 0.0; + out_7066952806100897033[141] = 0.0; + out_7066952806100897033[142] = 0.0; + out_7066952806100897033[143] = 0.0; + out_7066952806100897033[144] = 0.0; + out_7066952806100897033[145] = 0.0; + out_7066952806100897033[146] = 0.0; + out_7066952806100897033[147] = 0.0; + out_7066952806100897033[148] = 0.0; + out_7066952806100897033[149] = 0.0; + out_7066952806100897033[150] = 0.0; + out_7066952806100897033[151] = 0.0; + out_7066952806100897033[152] = 1.0; + out_7066952806100897033[153] = 0.0; + out_7066952806100897033[154] = 0.0; + out_7066952806100897033[155] = 0.0; + out_7066952806100897033[156] = 0.0; + out_7066952806100897033[157] = 0.0; + out_7066952806100897033[158] = 0.0; + out_7066952806100897033[159] = 0.0; + out_7066952806100897033[160] = 0.0; + out_7066952806100897033[161] = 0.0; + out_7066952806100897033[162] = 0.0; + out_7066952806100897033[163] = 0.0; + out_7066952806100897033[164] = 0.0; + out_7066952806100897033[165] = 0.0; + out_7066952806100897033[166] = 0.0; + out_7066952806100897033[167] = 0.0; + out_7066952806100897033[168] = 0.0; + out_7066952806100897033[169] = 0.0; + out_7066952806100897033[170] = 0.0; + out_7066952806100897033[171] = 1.0; + out_7066952806100897033[172] = 0.0; + out_7066952806100897033[173] = 0.0; + out_7066952806100897033[174] = 0.0; + out_7066952806100897033[175] = 0.0; + out_7066952806100897033[176] = 0.0; + out_7066952806100897033[177] = 0.0; + out_7066952806100897033[178] = 0.0; + out_7066952806100897033[179] = 0.0; + out_7066952806100897033[180] = 0.0; + out_7066952806100897033[181] = 0.0; + out_7066952806100897033[182] = 0.0; + out_7066952806100897033[183] = 0.0; + out_7066952806100897033[184] = 0.0; + out_7066952806100897033[185] = 0.0; + out_7066952806100897033[186] = 0.0; + out_7066952806100897033[187] = 0.0; + out_7066952806100897033[188] = 0.0; + out_7066952806100897033[189] = 0.0; + out_7066952806100897033[190] = 1.0; + out_7066952806100897033[191] = 0.0; + out_7066952806100897033[192] = 0.0; + out_7066952806100897033[193] = 0.0; + out_7066952806100897033[194] = 0.0; + out_7066952806100897033[195] = 0.0; + out_7066952806100897033[196] = 0.0; + out_7066952806100897033[197] = 0.0; + out_7066952806100897033[198] = 0.0; + out_7066952806100897033[199] = 0.0; + out_7066952806100897033[200] = 0.0; + out_7066952806100897033[201] = 0.0; + out_7066952806100897033[202] = 0.0; + out_7066952806100897033[203] = 0.0; + out_7066952806100897033[204] = 0.0; + out_7066952806100897033[205] = 0.0; + out_7066952806100897033[206] = 0.0; + out_7066952806100897033[207] = 0.0; + out_7066952806100897033[208] = 0.0; + out_7066952806100897033[209] = 1.0; + out_7066952806100897033[210] = 0.0; + out_7066952806100897033[211] = 0.0; + out_7066952806100897033[212] = 0.0; + out_7066952806100897033[213] = 0.0; + out_7066952806100897033[214] = 0.0; + out_7066952806100897033[215] = 0.0; + out_7066952806100897033[216] = 0.0; + out_7066952806100897033[217] = 0.0; + out_7066952806100897033[218] = 0.0; + out_7066952806100897033[219] = 0.0; + out_7066952806100897033[220] = 0.0; + out_7066952806100897033[221] = 0.0; + out_7066952806100897033[222] = 0.0; + out_7066952806100897033[223] = 0.0; + out_7066952806100897033[224] = 0.0; + out_7066952806100897033[225] = 0.0; + out_7066952806100897033[226] = 0.0; + out_7066952806100897033[227] = 0.0; + out_7066952806100897033[228] = 1.0; + out_7066952806100897033[229] = 0.0; + out_7066952806100897033[230] = 0.0; + out_7066952806100897033[231] = 0.0; + out_7066952806100897033[232] = 0.0; + out_7066952806100897033[233] = 0.0; + out_7066952806100897033[234] = 0.0; + out_7066952806100897033[235] = 0.0; + out_7066952806100897033[236] = 0.0; + out_7066952806100897033[237] = 0.0; + out_7066952806100897033[238] = 0.0; + out_7066952806100897033[239] = 0.0; + out_7066952806100897033[240] = 0.0; + out_7066952806100897033[241] = 0.0; + out_7066952806100897033[242] = 0.0; + out_7066952806100897033[243] = 0.0; + out_7066952806100897033[244] = 0.0; + out_7066952806100897033[245] = 0.0; + out_7066952806100897033[246] = 0.0; + out_7066952806100897033[247] = 1.0; + out_7066952806100897033[248] = 0.0; + out_7066952806100897033[249] = 0.0; + out_7066952806100897033[250] = 0.0; + out_7066952806100897033[251] = 0.0; + out_7066952806100897033[252] = 0.0; + out_7066952806100897033[253] = 0.0; + out_7066952806100897033[254] = 0.0; + out_7066952806100897033[255] = 0.0; + out_7066952806100897033[256] = 0.0; + out_7066952806100897033[257] = 0.0; + out_7066952806100897033[258] = 0.0; + out_7066952806100897033[259] = 0.0; + out_7066952806100897033[260] = 0.0; + out_7066952806100897033[261] = 0.0; + out_7066952806100897033[262] = 0.0; + out_7066952806100897033[263] = 0.0; + out_7066952806100897033[264] = 0.0; + out_7066952806100897033[265] = 0.0; + out_7066952806100897033[266] = 1.0; + out_7066952806100897033[267] = 0.0; + out_7066952806100897033[268] = 0.0; + out_7066952806100897033[269] = 0.0; + out_7066952806100897033[270] = 0.0; + out_7066952806100897033[271] = 0.0; + out_7066952806100897033[272] = 0.0; + out_7066952806100897033[273] = 0.0; + out_7066952806100897033[274] = 0.0; + out_7066952806100897033[275] = 0.0; + out_7066952806100897033[276] = 0.0; + out_7066952806100897033[277] = 0.0; + out_7066952806100897033[278] = 0.0; + out_7066952806100897033[279] = 0.0; + out_7066952806100897033[280] = 0.0; + out_7066952806100897033[281] = 0.0; + out_7066952806100897033[282] = 0.0; + out_7066952806100897033[283] = 0.0; + out_7066952806100897033[284] = 0.0; + out_7066952806100897033[285] = 1.0; + out_7066952806100897033[286] = 0.0; + out_7066952806100897033[287] = 0.0; + out_7066952806100897033[288] = 0.0; + out_7066952806100897033[289] = 0.0; + out_7066952806100897033[290] = 0.0; + out_7066952806100897033[291] = 0.0; + out_7066952806100897033[292] = 0.0; + out_7066952806100897033[293] = 0.0; + out_7066952806100897033[294] = 0.0; + out_7066952806100897033[295] = 0.0; + out_7066952806100897033[296] = 0.0; + out_7066952806100897033[297] = 0.0; + out_7066952806100897033[298] = 0.0; + out_7066952806100897033[299] = 0.0; + out_7066952806100897033[300] = 0.0; + out_7066952806100897033[301] = 0.0; + out_7066952806100897033[302] = 0.0; + out_7066952806100897033[303] = 0.0; + out_7066952806100897033[304] = 1.0; + out_7066952806100897033[305] = 0.0; + out_7066952806100897033[306] = 0.0; + out_7066952806100897033[307] = 0.0; + out_7066952806100897033[308] = 0.0; + out_7066952806100897033[309] = 0.0; + out_7066952806100897033[310] = 0.0; + out_7066952806100897033[311] = 0.0; + out_7066952806100897033[312] = 0.0; + out_7066952806100897033[313] = 0.0; + out_7066952806100897033[314] = 0.0; + out_7066952806100897033[315] = 0.0; + out_7066952806100897033[316] = 0.0; + out_7066952806100897033[317] = 0.0; + out_7066952806100897033[318] = 0.0; + out_7066952806100897033[319] = 0.0; + out_7066952806100897033[320] = 0.0; + out_7066952806100897033[321] = 0.0; + out_7066952806100897033[322] = 0.0; + out_7066952806100897033[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1970546984054209494) { - out_1970546984054209494[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_1970546984054209494[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_1970546984054209494[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_1970546984054209494[3] = dt*state[12] + state[3]; - out_1970546984054209494[4] = dt*state[13] + state[4]; - out_1970546984054209494[5] = dt*state[14] + state[5]; - out_1970546984054209494[6] = state[6]; - out_1970546984054209494[7] = state[7]; - out_1970546984054209494[8] = state[8]; - out_1970546984054209494[9] = state[9]; - out_1970546984054209494[10] = state[10]; - out_1970546984054209494[11] = state[11]; - out_1970546984054209494[12] = state[12]; - out_1970546984054209494[13] = state[13]; - out_1970546984054209494[14] = state[14]; - out_1970546984054209494[15] = state[15]; - out_1970546984054209494[16] = state[16]; - out_1970546984054209494[17] = state[17]; +void f_fun(double *state, double dt, double *out_5431061979149799049) { + out_5431061979149799049[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_5431061979149799049[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_5431061979149799049[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_5431061979149799049[3] = dt*state[12] + state[3]; + out_5431061979149799049[4] = dt*state[13] + state[4]; + out_5431061979149799049[5] = dt*state[14] + state[5]; + out_5431061979149799049[6] = state[6]; + out_5431061979149799049[7] = state[7]; + out_5431061979149799049[8] = state[8]; + out_5431061979149799049[9] = state[9]; + out_5431061979149799049[10] = state[10]; + out_5431061979149799049[11] = state[11]; + out_5431061979149799049[12] = state[12]; + out_5431061979149799049[13] = state[13]; + out_5431061979149799049[14] = state[14]; + out_5431061979149799049[15] = state[15]; + out_5431061979149799049[16] = state[16]; + out_5431061979149799049[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2484970000761638635) { - out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[2] = 0; - out_2484970000761638635[3] = 0; - out_2484970000761638635[4] = 0; - out_2484970000761638635[5] = 0; - out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[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_2484970000761638635[9] = 0; - out_2484970000761638635[10] = 0; - out_2484970000761638635[11] = 0; - out_2484970000761638635[12] = 0; - out_2484970000761638635[13] = 0; - out_2484970000761638635[14] = 0; - out_2484970000761638635[15] = 0; - out_2484970000761638635[16] = 0; - out_2484970000761638635[17] = 0; - out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[20] = 0; - out_2484970000761638635[21] = 0; - out_2484970000761638635[22] = 0; - out_2484970000761638635[23] = 0; - out_2484970000761638635[24] = 0; - out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[27] = 0; - out_2484970000761638635[28] = 0; - out_2484970000761638635[29] = 0; - out_2484970000761638635[30] = 0; - out_2484970000761638635[31] = 0; - out_2484970000761638635[32] = 0; - out_2484970000761638635[33] = 0; - out_2484970000761638635[34] = 0; - out_2484970000761638635[35] = 0; - out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[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_2484970000761638635[39] = 0; - out_2484970000761638635[40] = 0; - out_2484970000761638635[41] = 0; - out_2484970000761638635[42] = 0; - out_2484970000761638635[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_2484970000761638635[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_2484970000761638635[45] = 0; - out_2484970000761638635[46] = 0; - out_2484970000761638635[47] = 0; - out_2484970000761638635[48] = 0; - out_2484970000761638635[49] = 0; - out_2484970000761638635[50] = 0; - out_2484970000761638635[51] = 0; - out_2484970000761638635[52] = 0; - out_2484970000761638635[53] = 0; - out_2484970000761638635[54] = 0; - out_2484970000761638635[55] = 0; - out_2484970000761638635[56] = 0; - out_2484970000761638635[57] = 1; - out_2484970000761638635[58] = 0; - out_2484970000761638635[59] = 0; - out_2484970000761638635[60] = 0; - out_2484970000761638635[61] = 0; - out_2484970000761638635[62] = 0; - out_2484970000761638635[63] = 0; - out_2484970000761638635[64] = 0; - out_2484970000761638635[65] = 0; - out_2484970000761638635[66] = dt; - out_2484970000761638635[67] = 0; - out_2484970000761638635[68] = 0; - out_2484970000761638635[69] = 0; - out_2484970000761638635[70] = 0; - out_2484970000761638635[71] = 0; - out_2484970000761638635[72] = 0; - out_2484970000761638635[73] = 0; - out_2484970000761638635[74] = 0; - out_2484970000761638635[75] = 0; - out_2484970000761638635[76] = 1; - out_2484970000761638635[77] = 0; - out_2484970000761638635[78] = 0; - out_2484970000761638635[79] = 0; - out_2484970000761638635[80] = 0; - out_2484970000761638635[81] = 0; - out_2484970000761638635[82] = 0; - out_2484970000761638635[83] = 0; - out_2484970000761638635[84] = 0; - out_2484970000761638635[85] = dt; - out_2484970000761638635[86] = 0; - out_2484970000761638635[87] = 0; - out_2484970000761638635[88] = 0; - out_2484970000761638635[89] = 0; - out_2484970000761638635[90] = 0; - out_2484970000761638635[91] = 0; - out_2484970000761638635[92] = 0; - out_2484970000761638635[93] = 0; - out_2484970000761638635[94] = 0; - out_2484970000761638635[95] = 1; - out_2484970000761638635[96] = 0; - out_2484970000761638635[97] = 0; - out_2484970000761638635[98] = 0; - out_2484970000761638635[99] = 0; - out_2484970000761638635[100] = 0; - out_2484970000761638635[101] = 0; - out_2484970000761638635[102] = 0; - out_2484970000761638635[103] = 0; - out_2484970000761638635[104] = dt; - out_2484970000761638635[105] = 0; - out_2484970000761638635[106] = 0; - out_2484970000761638635[107] = 0; - out_2484970000761638635[108] = 0; - out_2484970000761638635[109] = 0; - out_2484970000761638635[110] = 0; - out_2484970000761638635[111] = 0; - out_2484970000761638635[112] = 0; - out_2484970000761638635[113] = 0; - out_2484970000761638635[114] = 1; - out_2484970000761638635[115] = 0; - out_2484970000761638635[116] = 0; - out_2484970000761638635[117] = 0; - out_2484970000761638635[118] = 0; - out_2484970000761638635[119] = 0; - out_2484970000761638635[120] = 0; - out_2484970000761638635[121] = 0; - out_2484970000761638635[122] = 0; - out_2484970000761638635[123] = 0; - out_2484970000761638635[124] = 0; - out_2484970000761638635[125] = 0; - out_2484970000761638635[126] = 0; - out_2484970000761638635[127] = 0; - out_2484970000761638635[128] = 0; - out_2484970000761638635[129] = 0; - out_2484970000761638635[130] = 0; - out_2484970000761638635[131] = 0; - out_2484970000761638635[132] = 0; - out_2484970000761638635[133] = 1; - out_2484970000761638635[134] = 0; - out_2484970000761638635[135] = 0; - out_2484970000761638635[136] = 0; - out_2484970000761638635[137] = 0; - out_2484970000761638635[138] = 0; - out_2484970000761638635[139] = 0; - out_2484970000761638635[140] = 0; - out_2484970000761638635[141] = 0; - out_2484970000761638635[142] = 0; - out_2484970000761638635[143] = 0; - out_2484970000761638635[144] = 0; - out_2484970000761638635[145] = 0; - out_2484970000761638635[146] = 0; - out_2484970000761638635[147] = 0; - out_2484970000761638635[148] = 0; - out_2484970000761638635[149] = 0; - out_2484970000761638635[150] = 0; - out_2484970000761638635[151] = 0; - out_2484970000761638635[152] = 1; - out_2484970000761638635[153] = 0; - out_2484970000761638635[154] = 0; - out_2484970000761638635[155] = 0; - out_2484970000761638635[156] = 0; - out_2484970000761638635[157] = 0; - out_2484970000761638635[158] = 0; - out_2484970000761638635[159] = 0; - out_2484970000761638635[160] = 0; - out_2484970000761638635[161] = 0; - out_2484970000761638635[162] = 0; - out_2484970000761638635[163] = 0; - out_2484970000761638635[164] = 0; - out_2484970000761638635[165] = 0; - out_2484970000761638635[166] = 0; - out_2484970000761638635[167] = 0; - out_2484970000761638635[168] = 0; - out_2484970000761638635[169] = 0; - out_2484970000761638635[170] = 0; - out_2484970000761638635[171] = 1; - out_2484970000761638635[172] = 0; - out_2484970000761638635[173] = 0; - out_2484970000761638635[174] = 0; - out_2484970000761638635[175] = 0; - out_2484970000761638635[176] = 0; - out_2484970000761638635[177] = 0; - out_2484970000761638635[178] = 0; - out_2484970000761638635[179] = 0; - out_2484970000761638635[180] = 0; - out_2484970000761638635[181] = 0; - out_2484970000761638635[182] = 0; - out_2484970000761638635[183] = 0; - out_2484970000761638635[184] = 0; - out_2484970000761638635[185] = 0; - out_2484970000761638635[186] = 0; - out_2484970000761638635[187] = 0; - out_2484970000761638635[188] = 0; - out_2484970000761638635[189] = 0; - out_2484970000761638635[190] = 1; - out_2484970000761638635[191] = 0; - out_2484970000761638635[192] = 0; - out_2484970000761638635[193] = 0; - out_2484970000761638635[194] = 0; - out_2484970000761638635[195] = 0; - out_2484970000761638635[196] = 0; - out_2484970000761638635[197] = 0; - out_2484970000761638635[198] = 0; - out_2484970000761638635[199] = 0; - out_2484970000761638635[200] = 0; - out_2484970000761638635[201] = 0; - out_2484970000761638635[202] = 0; - out_2484970000761638635[203] = 0; - out_2484970000761638635[204] = 0; - out_2484970000761638635[205] = 0; - out_2484970000761638635[206] = 0; - out_2484970000761638635[207] = 0; - out_2484970000761638635[208] = 0; - out_2484970000761638635[209] = 1; - out_2484970000761638635[210] = 0; - out_2484970000761638635[211] = 0; - out_2484970000761638635[212] = 0; - out_2484970000761638635[213] = 0; - out_2484970000761638635[214] = 0; - out_2484970000761638635[215] = 0; - out_2484970000761638635[216] = 0; - out_2484970000761638635[217] = 0; - out_2484970000761638635[218] = 0; - out_2484970000761638635[219] = 0; - out_2484970000761638635[220] = 0; - out_2484970000761638635[221] = 0; - out_2484970000761638635[222] = 0; - out_2484970000761638635[223] = 0; - out_2484970000761638635[224] = 0; - out_2484970000761638635[225] = 0; - out_2484970000761638635[226] = 0; - out_2484970000761638635[227] = 0; - out_2484970000761638635[228] = 1; - out_2484970000761638635[229] = 0; - out_2484970000761638635[230] = 0; - out_2484970000761638635[231] = 0; - out_2484970000761638635[232] = 0; - out_2484970000761638635[233] = 0; - out_2484970000761638635[234] = 0; - out_2484970000761638635[235] = 0; - out_2484970000761638635[236] = 0; - out_2484970000761638635[237] = 0; - out_2484970000761638635[238] = 0; - out_2484970000761638635[239] = 0; - out_2484970000761638635[240] = 0; - out_2484970000761638635[241] = 0; - out_2484970000761638635[242] = 0; - out_2484970000761638635[243] = 0; - out_2484970000761638635[244] = 0; - out_2484970000761638635[245] = 0; - out_2484970000761638635[246] = 0; - out_2484970000761638635[247] = 1; - out_2484970000761638635[248] = 0; - out_2484970000761638635[249] = 0; - out_2484970000761638635[250] = 0; - out_2484970000761638635[251] = 0; - out_2484970000761638635[252] = 0; - out_2484970000761638635[253] = 0; - out_2484970000761638635[254] = 0; - out_2484970000761638635[255] = 0; - out_2484970000761638635[256] = 0; - out_2484970000761638635[257] = 0; - out_2484970000761638635[258] = 0; - out_2484970000761638635[259] = 0; - out_2484970000761638635[260] = 0; - out_2484970000761638635[261] = 0; - out_2484970000761638635[262] = 0; - out_2484970000761638635[263] = 0; - out_2484970000761638635[264] = 0; - out_2484970000761638635[265] = 0; - out_2484970000761638635[266] = 1; - out_2484970000761638635[267] = 0; - out_2484970000761638635[268] = 0; - out_2484970000761638635[269] = 0; - out_2484970000761638635[270] = 0; - out_2484970000761638635[271] = 0; - out_2484970000761638635[272] = 0; - out_2484970000761638635[273] = 0; - out_2484970000761638635[274] = 0; - out_2484970000761638635[275] = 0; - out_2484970000761638635[276] = 0; - out_2484970000761638635[277] = 0; - out_2484970000761638635[278] = 0; - out_2484970000761638635[279] = 0; - out_2484970000761638635[280] = 0; - out_2484970000761638635[281] = 0; - out_2484970000761638635[282] = 0; - out_2484970000761638635[283] = 0; - out_2484970000761638635[284] = 0; - out_2484970000761638635[285] = 1; - out_2484970000761638635[286] = 0; - out_2484970000761638635[287] = 0; - out_2484970000761638635[288] = 0; - out_2484970000761638635[289] = 0; - out_2484970000761638635[290] = 0; - out_2484970000761638635[291] = 0; - out_2484970000761638635[292] = 0; - out_2484970000761638635[293] = 0; - out_2484970000761638635[294] = 0; - out_2484970000761638635[295] = 0; - out_2484970000761638635[296] = 0; - out_2484970000761638635[297] = 0; - out_2484970000761638635[298] = 0; - out_2484970000761638635[299] = 0; - out_2484970000761638635[300] = 0; - out_2484970000761638635[301] = 0; - out_2484970000761638635[302] = 0; - out_2484970000761638635[303] = 0; - out_2484970000761638635[304] = 1; - out_2484970000761638635[305] = 0; - out_2484970000761638635[306] = 0; - out_2484970000761638635[307] = 0; - out_2484970000761638635[308] = 0; - out_2484970000761638635[309] = 0; - out_2484970000761638635[310] = 0; - out_2484970000761638635[311] = 0; - out_2484970000761638635[312] = 0; - out_2484970000761638635[313] = 0; - out_2484970000761638635[314] = 0; - out_2484970000761638635[315] = 0; - out_2484970000761638635[316] = 0; - out_2484970000761638635[317] = 0; - out_2484970000761638635[318] = 0; - out_2484970000761638635[319] = 0; - out_2484970000761638635[320] = 0; - out_2484970000761638635[321] = 0; - out_2484970000761638635[322] = 0; - out_2484970000761638635[323] = 1; +void F_fun(double *state, double dt, double *out_7283706501583847587) { + out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[2] = 0; + out_7283706501583847587[3] = 0; + out_7283706501583847587[4] = 0; + out_7283706501583847587[5] = 0; + out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[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_7283706501583847587[9] = 0; + out_7283706501583847587[10] = 0; + out_7283706501583847587[11] = 0; + out_7283706501583847587[12] = 0; + out_7283706501583847587[13] = 0; + out_7283706501583847587[14] = 0; + out_7283706501583847587[15] = 0; + out_7283706501583847587[16] = 0; + out_7283706501583847587[17] = 0; + out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[20] = 0; + out_7283706501583847587[21] = 0; + out_7283706501583847587[22] = 0; + out_7283706501583847587[23] = 0; + out_7283706501583847587[24] = 0; + out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[27] = 0; + out_7283706501583847587[28] = 0; + out_7283706501583847587[29] = 0; + out_7283706501583847587[30] = 0; + out_7283706501583847587[31] = 0; + out_7283706501583847587[32] = 0; + out_7283706501583847587[33] = 0; + out_7283706501583847587[34] = 0; + out_7283706501583847587[35] = 0; + out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[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_7283706501583847587[39] = 0; + out_7283706501583847587[40] = 0; + out_7283706501583847587[41] = 0; + out_7283706501583847587[42] = 0; + out_7283706501583847587[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_7283706501583847587[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_7283706501583847587[45] = 0; + out_7283706501583847587[46] = 0; + out_7283706501583847587[47] = 0; + out_7283706501583847587[48] = 0; + out_7283706501583847587[49] = 0; + out_7283706501583847587[50] = 0; + out_7283706501583847587[51] = 0; + out_7283706501583847587[52] = 0; + out_7283706501583847587[53] = 0; + out_7283706501583847587[54] = 0; + out_7283706501583847587[55] = 0; + out_7283706501583847587[56] = 0; + out_7283706501583847587[57] = 1; + out_7283706501583847587[58] = 0; + out_7283706501583847587[59] = 0; + out_7283706501583847587[60] = 0; + out_7283706501583847587[61] = 0; + out_7283706501583847587[62] = 0; + out_7283706501583847587[63] = 0; + out_7283706501583847587[64] = 0; + out_7283706501583847587[65] = 0; + out_7283706501583847587[66] = dt; + out_7283706501583847587[67] = 0; + out_7283706501583847587[68] = 0; + out_7283706501583847587[69] = 0; + out_7283706501583847587[70] = 0; + out_7283706501583847587[71] = 0; + out_7283706501583847587[72] = 0; + out_7283706501583847587[73] = 0; + out_7283706501583847587[74] = 0; + out_7283706501583847587[75] = 0; + out_7283706501583847587[76] = 1; + out_7283706501583847587[77] = 0; + out_7283706501583847587[78] = 0; + out_7283706501583847587[79] = 0; + out_7283706501583847587[80] = 0; + out_7283706501583847587[81] = 0; + out_7283706501583847587[82] = 0; + out_7283706501583847587[83] = 0; + out_7283706501583847587[84] = 0; + out_7283706501583847587[85] = dt; + out_7283706501583847587[86] = 0; + out_7283706501583847587[87] = 0; + out_7283706501583847587[88] = 0; + out_7283706501583847587[89] = 0; + out_7283706501583847587[90] = 0; + out_7283706501583847587[91] = 0; + out_7283706501583847587[92] = 0; + out_7283706501583847587[93] = 0; + out_7283706501583847587[94] = 0; + out_7283706501583847587[95] = 1; + out_7283706501583847587[96] = 0; + out_7283706501583847587[97] = 0; + out_7283706501583847587[98] = 0; + out_7283706501583847587[99] = 0; + out_7283706501583847587[100] = 0; + out_7283706501583847587[101] = 0; + out_7283706501583847587[102] = 0; + out_7283706501583847587[103] = 0; + out_7283706501583847587[104] = dt; + out_7283706501583847587[105] = 0; + out_7283706501583847587[106] = 0; + out_7283706501583847587[107] = 0; + out_7283706501583847587[108] = 0; + out_7283706501583847587[109] = 0; + out_7283706501583847587[110] = 0; + out_7283706501583847587[111] = 0; + out_7283706501583847587[112] = 0; + out_7283706501583847587[113] = 0; + out_7283706501583847587[114] = 1; + out_7283706501583847587[115] = 0; + out_7283706501583847587[116] = 0; + out_7283706501583847587[117] = 0; + out_7283706501583847587[118] = 0; + out_7283706501583847587[119] = 0; + out_7283706501583847587[120] = 0; + out_7283706501583847587[121] = 0; + out_7283706501583847587[122] = 0; + out_7283706501583847587[123] = 0; + out_7283706501583847587[124] = 0; + out_7283706501583847587[125] = 0; + out_7283706501583847587[126] = 0; + out_7283706501583847587[127] = 0; + out_7283706501583847587[128] = 0; + out_7283706501583847587[129] = 0; + out_7283706501583847587[130] = 0; + out_7283706501583847587[131] = 0; + out_7283706501583847587[132] = 0; + out_7283706501583847587[133] = 1; + out_7283706501583847587[134] = 0; + out_7283706501583847587[135] = 0; + out_7283706501583847587[136] = 0; + out_7283706501583847587[137] = 0; + out_7283706501583847587[138] = 0; + out_7283706501583847587[139] = 0; + out_7283706501583847587[140] = 0; + out_7283706501583847587[141] = 0; + out_7283706501583847587[142] = 0; + out_7283706501583847587[143] = 0; + out_7283706501583847587[144] = 0; + out_7283706501583847587[145] = 0; + out_7283706501583847587[146] = 0; + out_7283706501583847587[147] = 0; + out_7283706501583847587[148] = 0; + out_7283706501583847587[149] = 0; + out_7283706501583847587[150] = 0; + out_7283706501583847587[151] = 0; + out_7283706501583847587[152] = 1; + out_7283706501583847587[153] = 0; + out_7283706501583847587[154] = 0; + out_7283706501583847587[155] = 0; + out_7283706501583847587[156] = 0; + out_7283706501583847587[157] = 0; + out_7283706501583847587[158] = 0; + out_7283706501583847587[159] = 0; + out_7283706501583847587[160] = 0; + out_7283706501583847587[161] = 0; + out_7283706501583847587[162] = 0; + out_7283706501583847587[163] = 0; + out_7283706501583847587[164] = 0; + out_7283706501583847587[165] = 0; + out_7283706501583847587[166] = 0; + out_7283706501583847587[167] = 0; + out_7283706501583847587[168] = 0; + out_7283706501583847587[169] = 0; + out_7283706501583847587[170] = 0; + out_7283706501583847587[171] = 1; + out_7283706501583847587[172] = 0; + out_7283706501583847587[173] = 0; + out_7283706501583847587[174] = 0; + out_7283706501583847587[175] = 0; + out_7283706501583847587[176] = 0; + out_7283706501583847587[177] = 0; + out_7283706501583847587[178] = 0; + out_7283706501583847587[179] = 0; + out_7283706501583847587[180] = 0; + out_7283706501583847587[181] = 0; + out_7283706501583847587[182] = 0; + out_7283706501583847587[183] = 0; + out_7283706501583847587[184] = 0; + out_7283706501583847587[185] = 0; + out_7283706501583847587[186] = 0; + out_7283706501583847587[187] = 0; + out_7283706501583847587[188] = 0; + out_7283706501583847587[189] = 0; + out_7283706501583847587[190] = 1; + out_7283706501583847587[191] = 0; + out_7283706501583847587[192] = 0; + out_7283706501583847587[193] = 0; + out_7283706501583847587[194] = 0; + out_7283706501583847587[195] = 0; + out_7283706501583847587[196] = 0; + out_7283706501583847587[197] = 0; + out_7283706501583847587[198] = 0; + out_7283706501583847587[199] = 0; + out_7283706501583847587[200] = 0; + out_7283706501583847587[201] = 0; + out_7283706501583847587[202] = 0; + out_7283706501583847587[203] = 0; + out_7283706501583847587[204] = 0; + out_7283706501583847587[205] = 0; + out_7283706501583847587[206] = 0; + out_7283706501583847587[207] = 0; + out_7283706501583847587[208] = 0; + out_7283706501583847587[209] = 1; + out_7283706501583847587[210] = 0; + out_7283706501583847587[211] = 0; + out_7283706501583847587[212] = 0; + out_7283706501583847587[213] = 0; + out_7283706501583847587[214] = 0; + out_7283706501583847587[215] = 0; + out_7283706501583847587[216] = 0; + out_7283706501583847587[217] = 0; + out_7283706501583847587[218] = 0; + out_7283706501583847587[219] = 0; + out_7283706501583847587[220] = 0; + out_7283706501583847587[221] = 0; + out_7283706501583847587[222] = 0; + out_7283706501583847587[223] = 0; + out_7283706501583847587[224] = 0; + out_7283706501583847587[225] = 0; + out_7283706501583847587[226] = 0; + out_7283706501583847587[227] = 0; + out_7283706501583847587[228] = 1; + out_7283706501583847587[229] = 0; + out_7283706501583847587[230] = 0; + out_7283706501583847587[231] = 0; + out_7283706501583847587[232] = 0; + out_7283706501583847587[233] = 0; + out_7283706501583847587[234] = 0; + out_7283706501583847587[235] = 0; + out_7283706501583847587[236] = 0; + out_7283706501583847587[237] = 0; + out_7283706501583847587[238] = 0; + out_7283706501583847587[239] = 0; + out_7283706501583847587[240] = 0; + out_7283706501583847587[241] = 0; + out_7283706501583847587[242] = 0; + out_7283706501583847587[243] = 0; + out_7283706501583847587[244] = 0; + out_7283706501583847587[245] = 0; + out_7283706501583847587[246] = 0; + out_7283706501583847587[247] = 1; + out_7283706501583847587[248] = 0; + out_7283706501583847587[249] = 0; + out_7283706501583847587[250] = 0; + out_7283706501583847587[251] = 0; + out_7283706501583847587[252] = 0; + out_7283706501583847587[253] = 0; + out_7283706501583847587[254] = 0; + out_7283706501583847587[255] = 0; + out_7283706501583847587[256] = 0; + out_7283706501583847587[257] = 0; + out_7283706501583847587[258] = 0; + out_7283706501583847587[259] = 0; + out_7283706501583847587[260] = 0; + out_7283706501583847587[261] = 0; + out_7283706501583847587[262] = 0; + out_7283706501583847587[263] = 0; + out_7283706501583847587[264] = 0; + out_7283706501583847587[265] = 0; + out_7283706501583847587[266] = 1; + out_7283706501583847587[267] = 0; + out_7283706501583847587[268] = 0; + out_7283706501583847587[269] = 0; + out_7283706501583847587[270] = 0; + out_7283706501583847587[271] = 0; + out_7283706501583847587[272] = 0; + out_7283706501583847587[273] = 0; + out_7283706501583847587[274] = 0; + out_7283706501583847587[275] = 0; + out_7283706501583847587[276] = 0; + out_7283706501583847587[277] = 0; + out_7283706501583847587[278] = 0; + out_7283706501583847587[279] = 0; + out_7283706501583847587[280] = 0; + out_7283706501583847587[281] = 0; + out_7283706501583847587[282] = 0; + out_7283706501583847587[283] = 0; + out_7283706501583847587[284] = 0; + out_7283706501583847587[285] = 1; + out_7283706501583847587[286] = 0; + out_7283706501583847587[287] = 0; + out_7283706501583847587[288] = 0; + out_7283706501583847587[289] = 0; + out_7283706501583847587[290] = 0; + out_7283706501583847587[291] = 0; + out_7283706501583847587[292] = 0; + out_7283706501583847587[293] = 0; + out_7283706501583847587[294] = 0; + out_7283706501583847587[295] = 0; + out_7283706501583847587[296] = 0; + out_7283706501583847587[297] = 0; + out_7283706501583847587[298] = 0; + out_7283706501583847587[299] = 0; + out_7283706501583847587[300] = 0; + out_7283706501583847587[301] = 0; + out_7283706501583847587[302] = 0; + out_7283706501583847587[303] = 0; + out_7283706501583847587[304] = 1; + out_7283706501583847587[305] = 0; + out_7283706501583847587[306] = 0; + out_7283706501583847587[307] = 0; + out_7283706501583847587[308] = 0; + out_7283706501583847587[309] = 0; + out_7283706501583847587[310] = 0; + out_7283706501583847587[311] = 0; + out_7283706501583847587[312] = 0; + out_7283706501583847587[313] = 0; + out_7283706501583847587[314] = 0; + out_7283706501583847587[315] = 0; + out_7283706501583847587[316] = 0; + out_7283706501583847587[317] = 0; + out_7283706501583847587[318] = 0; + out_7283706501583847587[319] = 0; + out_7283706501583847587[320] = 0; + out_7283706501583847587[321] = 0; + out_7283706501583847587[322] = 0; + out_7283706501583847587[323] = 1; } -void h_4(double *state, double *unused, double *out_5725974613387962710) { - out_5725974613387962710[0] = state[6] + state[9]; - out_5725974613387962710[1] = state[7] + state[10]; - out_5725974613387962710[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1801795458370807617) { + out_1801795458370807617[0] = state[6] + state[9]; + out_1801795458370807617[1] = state[7] + state[10]; + out_1801795458370807617[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3808243550112720964) { - out_3808243550112720964[0] = 0; - out_3808243550112720964[1] = 0; - out_3808243550112720964[2] = 0; - out_3808243550112720964[3] = 0; - out_3808243550112720964[4] = 0; - out_3808243550112720964[5] = 0; - out_3808243550112720964[6] = 1; - out_3808243550112720964[7] = 0; - out_3808243550112720964[8] = 0; - out_3808243550112720964[9] = 1; - out_3808243550112720964[10] = 0; - out_3808243550112720964[11] = 0; - out_3808243550112720964[12] = 0; - out_3808243550112720964[13] = 0; - out_3808243550112720964[14] = 0; - out_3808243550112720964[15] = 0; - out_3808243550112720964[16] = 0; - out_3808243550112720964[17] = 0; - out_3808243550112720964[18] = 0; - out_3808243550112720964[19] = 0; - out_3808243550112720964[20] = 0; - out_3808243550112720964[21] = 0; - out_3808243550112720964[22] = 0; - out_3808243550112720964[23] = 0; - out_3808243550112720964[24] = 0; - out_3808243550112720964[25] = 1; - out_3808243550112720964[26] = 0; - out_3808243550112720964[27] = 0; - out_3808243550112720964[28] = 1; - out_3808243550112720964[29] = 0; - out_3808243550112720964[30] = 0; - out_3808243550112720964[31] = 0; - out_3808243550112720964[32] = 0; - out_3808243550112720964[33] = 0; - out_3808243550112720964[34] = 0; - out_3808243550112720964[35] = 0; - out_3808243550112720964[36] = 0; - out_3808243550112720964[37] = 0; - out_3808243550112720964[38] = 0; - out_3808243550112720964[39] = 0; - out_3808243550112720964[40] = 0; - out_3808243550112720964[41] = 0; - out_3808243550112720964[42] = 0; - out_3808243550112720964[43] = 0; - out_3808243550112720964[44] = 1; - out_3808243550112720964[45] = 0; - out_3808243550112720964[46] = 0; - out_3808243550112720964[47] = 1; - out_3808243550112720964[48] = 0; - out_3808243550112720964[49] = 0; - out_3808243550112720964[50] = 0; - out_3808243550112720964[51] = 0; - out_3808243550112720964[52] = 0; - out_3808243550112720964[53] = 0; +void H_4(double *state, double *unused, double *out_1671243425982092105) { + out_1671243425982092105[0] = 0; + out_1671243425982092105[1] = 0; + out_1671243425982092105[2] = 0; + out_1671243425982092105[3] = 0; + out_1671243425982092105[4] = 0; + out_1671243425982092105[5] = 0; + out_1671243425982092105[6] = 1; + out_1671243425982092105[7] = 0; + out_1671243425982092105[8] = 0; + out_1671243425982092105[9] = 1; + out_1671243425982092105[10] = 0; + out_1671243425982092105[11] = 0; + out_1671243425982092105[12] = 0; + out_1671243425982092105[13] = 0; + out_1671243425982092105[14] = 0; + out_1671243425982092105[15] = 0; + out_1671243425982092105[16] = 0; + out_1671243425982092105[17] = 0; + out_1671243425982092105[18] = 0; + out_1671243425982092105[19] = 0; + out_1671243425982092105[20] = 0; + out_1671243425982092105[21] = 0; + out_1671243425982092105[22] = 0; + out_1671243425982092105[23] = 0; + out_1671243425982092105[24] = 0; + out_1671243425982092105[25] = 1; + out_1671243425982092105[26] = 0; + out_1671243425982092105[27] = 0; + out_1671243425982092105[28] = 1; + out_1671243425982092105[29] = 0; + out_1671243425982092105[30] = 0; + out_1671243425982092105[31] = 0; + out_1671243425982092105[32] = 0; + out_1671243425982092105[33] = 0; + out_1671243425982092105[34] = 0; + out_1671243425982092105[35] = 0; + out_1671243425982092105[36] = 0; + out_1671243425982092105[37] = 0; + out_1671243425982092105[38] = 0; + out_1671243425982092105[39] = 0; + out_1671243425982092105[40] = 0; + out_1671243425982092105[41] = 0; + out_1671243425982092105[42] = 0; + out_1671243425982092105[43] = 0; + out_1671243425982092105[44] = 1; + out_1671243425982092105[45] = 0; + out_1671243425982092105[46] = 0; + out_1671243425982092105[47] = 1; + out_1671243425982092105[48] = 0; + out_1671243425982092105[49] = 0; + out_1671243425982092105[50] = 0; + out_1671243425982092105[51] = 0; + out_1671243425982092105[52] = 0; + out_1671243425982092105[53] = 0; } -void h_10(double *state, double *unused, double *out_6479738358501538001) { - out_6479738358501538001[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6479738358501538001[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6479738358501538001[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_296127658211319494) { + out_296127658211319494[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_296127658211319494[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_296127658211319494[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_2571832150125994618) { - out_2571832150125994618[0] = 0; - out_2571832150125994618[1] = 9.8100000000000005*cos(state[1]); - out_2571832150125994618[2] = 0; - out_2571832150125994618[3] = 0; - out_2571832150125994618[4] = -state[8]; - out_2571832150125994618[5] = state[7]; - out_2571832150125994618[6] = 0; - out_2571832150125994618[7] = state[5]; - out_2571832150125994618[8] = -state[4]; - out_2571832150125994618[9] = 0; - out_2571832150125994618[10] = 0; - out_2571832150125994618[11] = 0; - out_2571832150125994618[12] = 1; - out_2571832150125994618[13] = 0; - out_2571832150125994618[14] = 0; - out_2571832150125994618[15] = 1; - out_2571832150125994618[16] = 0; - out_2571832150125994618[17] = 0; - out_2571832150125994618[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2571832150125994618[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2571832150125994618[20] = 0; - out_2571832150125994618[21] = state[8]; - out_2571832150125994618[22] = 0; - out_2571832150125994618[23] = -state[6]; - out_2571832150125994618[24] = -state[5]; - out_2571832150125994618[25] = 0; - out_2571832150125994618[26] = state[3]; - out_2571832150125994618[27] = 0; - out_2571832150125994618[28] = 0; - out_2571832150125994618[29] = 0; - out_2571832150125994618[30] = 0; - out_2571832150125994618[31] = 1; - out_2571832150125994618[32] = 0; - out_2571832150125994618[33] = 0; - out_2571832150125994618[34] = 1; - out_2571832150125994618[35] = 0; - out_2571832150125994618[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2571832150125994618[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2571832150125994618[38] = 0; - out_2571832150125994618[39] = -state[7]; - out_2571832150125994618[40] = state[6]; - out_2571832150125994618[41] = 0; - out_2571832150125994618[42] = state[4]; - out_2571832150125994618[43] = -state[3]; - out_2571832150125994618[44] = 0; - out_2571832150125994618[45] = 0; - out_2571832150125994618[46] = 0; - out_2571832150125994618[47] = 0; - out_2571832150125994618[48] = 0; - out_2571832150125994618[49] = 0; - out_2571832150125994618[50] = 1; - out_2571832150125994618[51] = 0; - out_2571832150125994618[52] = 0; - out_2571832150125994618[53] = 1; +void H_10(double *state, double *unused, double *out_4354678574143084041) { + out_4354678574143084041[0] = 0; + out_4354678574143084041[1] = 9.8100000000000005*cos(state[1]); + out_4354678574143084041[2] = 0; + out_4354678574143084041[3] = 0; + out_4354678574143084041[4] = -state[8]; + out_4354678574143084041[5] = state[7]; + out_4354678574143084041[6] = 0; + out_4354678574143084041[7] = state[5]; + out_4354678574143084041[8] = -state[4]; + out_4354678574143084041[9] = 0; + out_4354678574143084041[10] = 0; + out_4354678574143084041[11] = 0; + out_4354678574143084041[12] = 1; + out_4354678574143084041[13] = 0; + out_4354678574143084041[14] = 0; + out_4354678574143084041[15] = 1; + out_4354678574143084041[16] = 0; + out_4354678574143084041[17] = 0; + out_4354678574143084041[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4354678574143084041[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4354678574143084041[20] = 0; + out_4354678574143084041[21] = state[8]; + out_4354678574143084041[22] = 0; + out_4354678574143084041[23] = -state[6]; + out_4354678574143084041[24] = -state[5]; + out_4354678574143084041[25] = 0; + out_4354678574143084041[26] = state[3]; + out_4354678574143084041[27] = 0; + out_4354678574143084041[28] = 0; + out_4354678574143084041[29] = 0; + out_4354678574143084041[30] = 0; + out_4354678574143084041[31] = 1; + out_4354678574143084041[32] = 0; + out_4354678574143084041[33] = 0; + out_4354678574143084041[34] = 1; + out_4354678574143084041[35] = 0; + out_4354678574143084041[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4354678574143084041[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4354678574143084041[38] = 0; + out_4354678574143084041[39] = -state[7]; + out_4354678574143084041[40] = state[6]; + out_4354678574143084041[41] = 0; + out_4354678574143084041[42] = state[4]; + out_4354678574143084041[43] = -state[3]; + out_4354678574143084041[44] = 0; + out_4354678574143084041[45] = 0; + out_4354678574143084041[46] = 0; + out_4354678574143084041[47] = 0; + out_4354678574143084041[48] = 0; + out_4354678574143084041[49] = 0; + out_4354678574143084041[50] = 1; + out_4354678574143084041[51] = 0; + out_4354678574143084041[52] = 0; + out_4354678574143084041[53] = 1; } -void h_13(double *state, double *unused, double *out_2468597468972695670) { - out_2468597468972695670[0] = state[3]; - out_2468597468972695670[1] = state[4]; - out_2468597468972695670[2] = state[5]; +void h_13(double *state, double *unused, double *out_3294015468262232612) { + out_3294015468262232612[0] = state[3]; + out_3294015468262232612[1] = state[4]; + out_3294015468262232612[2] = state[5]; } -void H_13(double *state, double *unused, double *out_595969724780388163) { - out_595969724780388163[0] = 0; - out_595969724780388163[1] = 0; - out_595969724780388163[2] = 0; - out_595969724780388163[3] = 1; - out_595969724780388163[4] = 0; - out_595969724780388163[5] = 0; - out_595969724780388163[6] = 0; - out_595969724780388163[7] = 0; - out_595969724780388163[8] = 0; - out_595969724780388163[9] = 0; - out_595969724780388163[10] = 0; - out_595969724780388163[11] = 0; - out_595969724780388163[12] = 0; - out_595969724780388163[13] = 0; - out_595969724780388163[14] = 0; - out_595969724780388163[15] = 0; - out_595969724780388163[16] = 0; - out_595969724780388163[17] = 0; - out_595969724780388163[18] = 0; - out_595969724780388163[19] = 0; - out_595969724780388163[20] = 0; - out_595969724780388163[21] = 0; - out_595969724780388163[22] = 1; - out_595969724780388163[23] = 0; - out_595969724780388163[24] = 0; - out_595969724780388163[25] = 0; - out_595969724780388163[26] = 0; - out_595969724780388163[27] = 0; - out_595969724780388163[28] = 0; - out_595969724780388163[29] = 0; - out_595969724780388163[30] = 0; - out_595969724780388163[31] = 0; - out_595969724780388163[32] = 0; - out_595969724780388163[33] = 0; - out_595969724780388163[34] = 0; - out_595969724780388163[35] = 0; - out_595969724780388163[36] = 0; - out_595969724780388163[37] = 0; - out_595969724780388163[38] = 0; - out_595969724780388163[39] = 0; - out_595969724780388163[40] = 0; - out_595969724780388163[41] = 1; - out_595969724780388163[42] = 0; - out_595969724780388163[43] = 0; - out_595969724780388163[44] = 0; - out_595969724780388163[45] = 0; - out_595969724780388163[46] = 0; - out_595969724780388163[47] = 0; - out_595969724780388163[48] = 0; - out_595969724780388163[49] = 0; - out_595969724780388163[50] = 0; - out_595969724780388163[51] = 0; - out_595969724780388163[52] = 0; - out_595969724780388163[53] = 0; +void H_13(double *state, double *unused, double *out_9164869439410758582) { + out_9164869439410758582[0] = 0; + out_9164869439410758582[1] = 0; + out_9164869439410758582[2] = 0; + out_9164869439410758582[3] = 1; + out_9164869439410758582[4] = 0; + out_9164869439410758582[5] = 0; + out_9164869439410758582[6] = 0; + out_9164869439410758582[7] = 0; + out_9164869439410758582[8] = 0; + out_9164869439410758582[9] = 0; + out_9164869439410758582[10] = 0; + out_9164869439410758582[11] = 0; + out_9164869439410758582[12] = 0; + out_9164869439410758582[13] = 0; + out_9164869439410758582[14] = 0; + out_9164869439410758582[15] = 0; + out_9164869439410758582[16] = 0; + out_9164869439410758582[17] = 0; + out_9164869439410758582[18] = 0; + out_9164869439410758582[19] = 0; + out_9164869439410758582[20] = 0; + out_9164869439410758582[21] = 0; + out_9164869439410758582[22] = 1; + out_9164869439410758582[23] = 0; + out_9164869439410758582[24] = 0; + out_9164869439410758582[25] = 0; + out_9164869439410758582[26] = 0; + out_9164869439410758582[27] = 0; + out_9164869439410758582[28] = 0; + out_9164869439410758582[29] = 0; + out_9164869439410758582[30] = 0; + out_9164869439410758582[31] = 0; + out_9164869439410758582[32] = 0; + out_9164869439410758582[33] = 0; + out_9164869439410758582[34] = 0; + out_9164869439410758582[35] = 0; + out_9164869439410758582[36] = 0; + out_9164869439410758582[37] = 0; + out_9164869439410758582[38] = 0; + out_9164869439410758582[39] = 0; + out_9164869439410758582[40] = 0; + out_9164869439410758582[41] = 1; + out_9164869439410758582[42] = 0; + out_9164869439410758582[43] = 0; + out_9164869439410758582[44] = 0; + out_9164869439410758582[45] = 0; + out_9164869439410758582[46] = 0; + out_9164869439410758582[47] = 0; + out_9164869439410758582[48] = 0; + out_9164869439410758582[49] = 0; + out_9164869439410758582[50] = 0; + out_9164869439410758582[51] = 0; + out_9164869439410758582[52] = 0; + out_9164869439410758582[53] = 0; } -void h_14(double *state, double *unused, double *out_7378190979403323616) { - out_7378190979403323616[0] = state[6]; - out_7378190979403323616[1] = state[7]; - out_7378190979403323616[2] = state[8]; +void h_14(double *state, double *unused, double *out_467053765268704623) { + out_467053765268704623[0] = state[6]; + out_467053765268704623[1] = state[7]; + out_467053765268704623[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6891031982408093260) { - out_6891031982408093260[0] = 0; - out_6891031982408093260[1] = 0; - out_6891031982408093260[2] = 0; - out_6891031982408093260[3] = 0; - out_6891031982408093260[4] = 0; - out_6891031982408093260[5] = 0; - out_6891031982408093260[6] = 1; - out_6891031982408093260[7] = 0; - out_6891031982408093260[8] = 0; - out_6891031982408093260[9] = 0; - out_6891031982408093260[10] = 0; - out_6891031982408093260[11] = 0; - out_6891031982408093260[12] = 0; - out_6891031982408093260[13] = 0; - out_6891031982408093260[14] = 0; - out_6891031982408093260[15] = 0; - out_6891031982408093260[16] = 0; - out_6891031982408093260[17] = 0; - out_6891031982408093260[18] = 0; - out_6891031982408093260[19] = 0; - out_6891031982408093260[20] = 0; - out_6891031982408093260[21] = 0; - out_6891031982408093260[22] = 0; - out_6891031982408093260[23] = 0; - out_6891031982408093260[24] = 0; - out_6891031982408093260[25] = 1; - out_6891031982408093260[26] = 0; - out_6891031982408093260[27] = 0; - out_6891031982408093260[28] = 0; - out_6891031982408093260[29] = 0; - out_6891031982408093260[30] = 0; - out_6891031982408093260[31] = 0; - out_6891031982408093260[32] = 0; - out_6891031982408093260[33] = 0; - out_6891031982408093260[34] = 0; - out_6891031982408093260[35] = 0; - out_6891031982408093260[36] = 0; - out_6891031982408093260[37] = 0; - out_6891031982408093260[38] = 0; - out_6891031982408093260[39] = 0; - out_6891031982408093260[40] = 0; - out_6891031982408093260[41] = 0; - out_6891031982408093260[42] = 0; - out_6891031982408093260[43] = 0; - out_6891031982408093260[44] = 1; - out_6891031982408093260[45] = 0; - out_6891031982408093260[46] = 0; - out_6891031982408093260[47] = 0; - out_6891031982408093260[48] = 0; - out_6891031982408093260[49] = 0; - out_6891031982408093260[50] = 0; - out_6891031982408093260[51] = 0; - out_6891031982408093260[52] = 0; - out_6891031982408093260[53] = 0; +void H_14(double *state, double *unused, double *out_1411545006313280191) { + out_1411545006313280191[0] = 0; + out_1411545006313280191[1] = 0; + out_1411545006313280191[2] = 0; + out_1411545006313280191[3] = 0; + out_1411545006313280191[4] = 0; + out_1411545006313280191[5] = 0; + out_1411545006313280191[6] = 1; + out_1411545006313280191[7] = 0; + out_1411545006313280191[8] = 0; + out_1411545006313280191[9] = 0; + out_1411545006313280191[10] = 0; + out_1411545006313280191[11] = 0; + out_1411545006313280191[12] = 0; + out_1411545006313280191[13] = 0; + out_1411545006313280191[14] = 0; + out_1411545006313280191[15] = 0; + out_1411545006313280191[16] = 0; + out_1411545006313280191[17] = 0; + out_1411545006313280191[18] = 0; + out_1411545006313280191[19] = 0; + out_1411545006313280191[20] = 0; + out_1411545006313280191[21] = 0; + out_1411545006313280191[22] = 0; + out_1411545006313280191[23] = 0; + out_1411545006313280191[24] = 0; + out_1411545006313280191[25] = 1; + out_1411545006313280191[26] = 0; + out_1411545006313280191[27] = 0; + out_1411545006313280191[28] = 0; + out_1411545006313280191[29] = 0; + out_1411545006313280191[30] = 0; + out_1411545006313280191[31] = 0; + out_1411545006313280191[32] = 0; + out_1411545006313280191[33] = 0; + out_1411545006313280191[34] = 0; + out_1411545006313280191[35] = 0; + out_1411545006313280191[36] = 0; + out_1411545006313280191[37] = 0; + out_1411545006313280191[38] = 0; + out_1411545006313280191[39] = 0; + out_1411545006313280191[40] = 0; + out_1411545006313280191[41] = 0; + out_1411545006313280191[42] = 0; + out_1411545006313280191[43] = 0; + out_1411545006313280191[44] = 1; + out_1411545006313280191[45] = 0; + out_1411545006313280191[46] = 0; + out_1411545006313280191[47] = 0; + out_1411545006313280191[48] = 0; + out_1411545006313280191[49] = 0; + out_1411545006313280191[50] = 0; + out_1411545006313280191[51] = 0; + out_1411545006313280191[52] = 0; + out_1411545006313280191[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_7958882747940958001) { - err_fun(nom_x, delta_x, out_7958882747940958001); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1384224859777021071) { + err_fun(nom_x, delta_x, out_1384224859777021071); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4703319146697471116) { - inv_err_fun(nom_x, true_x, out_4703319146697471116); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6553735098488367695) { + inv_err_fun(nom_x, true_x, out_6553735098488367695); } -void pose_H_mod_fun(double *state, double *out_656327009382969529) { - H_mod_fun(state, out_656327009382969529); +void pose_H_mod_fun(double *state, double *out_7066952806100897033) { + H_mod_fun(state, out_7066952806100897033); } -void pose_f_fun(double *state, double dt, double *out_1970546984054209494) { - f_fun(state, dt, out_1970546984054209494); +void pose_f_fun(double *state, double dt, double *out_5431061979149799049) { + f_fun(state, dt, out_5431061979149799049); } -void pose_F_fun(double *state, double dt, double *out_2484970000761638635) { - F_fun(state, dt, out_2484970000761638635); +void pose_F_fun(double *state, double dt, double *out_7283706501583847587) { + F_fun(state, dt, out_7283706501583847587); } -void pose_h_4(double *state, double *unused, double *out_5725974613387962710) { - h_4(state, unused, out_5725974613387962710); +void pose_h_4(double *state, double *unused, double *out_1801795458370807617) { + h_4(state, unused, out_1801795458370807617); } -void pose_H_4(double *state, double *unused, double *out_3808243550112720964) { - H_4(state, unused, out_3808243550112720964); +void pose_H_4(double *state, double *unused, double *out_1671243425982092105) { + H_4(state, unused, out_1671243425982092105); } -void pose_h_10(double *state, double *unused, double *out_6479738358501538001) { - h_10(state, unused, out_6479738358501538001); +void pose_h_10(double *state, double *unused, double *out_296127658211319494) { + h_10(state, unused, out_296127658211319494); } -void pose_H_10(double *state, double *unused, double *out_2571832150125994618) { - H_10(state, unused, out_2571832150125994618); +void pose_H_10(double *state, double *unused, double *out_4354678574143084041) { + H_10(state, unused, out_4354678574143084041); } -void pose_h_13(double *state, double *unused, double *out_2468597468972695670) { - h_13(state, unused, out_2468597468972695670); +void pose_h_13(double *state, double *unused, double *out_3294015468262232612) { + h_13(state, unused, out_3294015468262232612); } -void pose_H_13(double *state, double *unused, double *out_595969724780388163) { - H_13(state, unused, out_595969724780388163); +void pose_H_13(double *state, double *unused, double *out_9164869439410758582) { + H_13(state, unused, out_9164869439410758582); } -void pose_h_14(double *state, double *unused, double *out_7378190979403323616) { - h_14(state, unused, out_7378190979403323616); +void pose_h_14(double *state, double *unused, double *out_467053765268704623) { + h_14(state, unused, out_467053765268704623); } -void pose_H_14(double *state, double *unused, double *out_6891031982408093260) { - H_14(state, unused, out_6891031982408093260); +void pose_H_14(double *state, double *unused, double *out_1411545006313280191) { + H_14(state, unused, out_1411545006313280191); } 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 4272a187b..c66abe81f 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_7958882747940958001); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4703319146697471116); -void pose_H_mod_fun(double *state, double *out_656327009382969529); -void pose_f_fun(double *state, double dt, double *out_1970546984054209494); -void pose_F_fun(double *state, double dt, double *out_2484970000761638635); -void pose_h_4(double *state, double *unused, double *out_5725974613387962710); -void pose_H_4(double *state, double *unused, double *out_3808243550112720964); -void pose_h_10(double *state, double *unused, double *out_6479738358501538001); -void pose_H_10(double *state, double *unused, double *out_2571832150125994618); -void pose_h_13(double *state, double *unused, double *out_2468597468972695670); -void pose_H_13(double *state, double *unused, double *out_595969724780388163); -void pose_h_14(double *state, double *unused, double *out_7378190979403323616); -void pose_H_14(double *state, double *unused, double *out_6891031982408093260); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1384224859777021071); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6553735098488367695); +void pose_H_mod_fun(double *state, double *out_7066952806100897033); +void pose_f_fun(double *state, double dt, double *out_5431061979149799049); +void pose_F_fun(double *state, double dt, double *out_7283706501583847587); +void pose_h_4(double *state, double *unused, double *out_1801795458370807617); +void pose_H_4(double *state, double *unused, double *out_1671243425982092105); +void pose_h_10(double *state, double *unused, double *out_296127658211319494); +void pose_H_10(double *state, double *unused, double *out_4354678574143084041); +void pose_h_13(double *state, double *unused, double *out_3294015468262232612); +void pose_H_13(double *state, double *unused, double *out_9164869439410758582); +void pose_h_14(double *state, double *unused, double *out_467053765268704623); +void pose_H_14(double *state, double *unused, double *out_1411545006313280191); 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 f4d7cbbd0..01b0b0493 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 9dfa0b6f2..9ce735e57 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 8aba3ecb0..7e8770c58 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 70cadda5f..dedd16ea6 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index b2c2c265a..6b2546fc3 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ