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b/panda/board/obj/version @@ -1 +1 @@ -DEV-289f5e9d-DEBUG \ No newline at end of file +DEV-503a395e-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 23517eaf3..14908e9d9 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_8986378044421410730) { - out_8986378044421410730[0] = delta_x[0] + nom_x[0]; - out_8986378044421410730[1] = delta_x[1] + nom_x[1]; - out_8986378044421410730[2] = delta_x[2] + nom_x[2]; - out_8986378044421410730[3] = delta_x[3] + nom_x[3]; - out_8986378044421410730[4] = delta_x[4] + nom_x[4]; - out_8986378044421410730[5] = delta_x[5] + nom_x[5]; - out_8986378044421410730[6] = delta_x[6] + nom_x[6]; - out_8986378044421410730[7] = delta_x[7] + nom_x[7]; - out_8986378044421410730[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934) { + out_1982741958495934934[0] = delta_x[0] + nom_x[0]; + out_1982741958495934934[1] = delta_x[1] + nom_x[1]; + out_1982741958495934934[2] = delta_x[2] + nom_x[2]; + out_1982741958495934934[3] = delta_x[3] + nom_x[3]; + out_1982741958495934934[4] = delta_x[4] + nom_x[4]; + out_1982741958495934934[5] = delta_x[5] + nom_x[5]; + out_1982741958495934934[6] = delta_x[6] + nom_x[6]; + out_1982741958495934934[7] = delta_x[7] + nom_x[7]; + out_1982741958495934934[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1940910250995899848) { - out_1940910250995899848[0] = -nom_x[0] + true_x[0]; - out_1940910250995899848[1] = -nom_x[1] + true_x[1]; - out_1940910250995899848[2] = -nom_x[2] + true_x[2]; - out_1940910250995899848[3] = -nom_x[3] + true_x[3]; - out_1940910250995899848[4] = -nom_x[4] + true_x[4]; - out_1940910250995899848[5] = -nom_x[5] + true_x[5]; - out_1940910250995899848[6] = -nom_x[6] + true_x[6]; - out_1940910250995899848[7] = -nom_x[7] + true_x[7]; - out_1940910250995899848[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) { + out_1965858196176103805[0] = -nom_x[0] + true_x[0]; + out_1965858196176103805[1] = -nom_x[1] + true_x[1]; + out_1965858196176103805[2] = -nom_x[2] + true_x[2]; + out_1965858196176103805[3] = -nom_x[3] + true_x[3]; + out_1965858196176103805[4] = -nom_x[4] + true_x[4]; + out_1965858196176103805[5] = -nom_x[5] + true_x[5]; + out_1965858196176103805[6] = -nom_x[6] + true_x[6]; + out_1965858196176103805[7] = -nom_x[7] + true_x[7]; + out_1965858196176103805[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1327881932680008443) { - out_1327881932680008443[0] = 1.0; - out_1327881932680008443[1] = 0.0; - out_1327881932680008443[2] = 0.0; - out_1327881932680008443[3] = 0.0; - out_1327881932680008443[4] = 0.0; - out_1327881932680008443[5] = 0.0; - out_1327881932680008443[6] = 0.0; - out_1327881932680008443[7] = 0.0; - out_1327881932680008443[8] = 0.0; - out_1327881932680008443[9] = 0.0; - out_1327881932680008443[10] = 1.0; - out_1327881932680008443[11] = 0.0; - out_1327881932680008443[12] = 0.0; - out_1327881932680008443[13] = 0.0; - out_1327881932680008443[14] = 0.0; - out_1327881932680008443[15] = 0.0; - out_1327881932680008443[16] = 0.0; - out_1327881932680008443[17] = 0.0; - out_1327881932680008443[18] = 0.0; - out_1327881932680008443[19] = 0.0; - out_1327881932680008443[20] = 1.0; - out_1327881932680008443[21] = 0.0; - out_1327881932680008443[22] = 0.0; - out_1327881932680008443[23] = 0.0; - out_1327881932680008443[24] = 0.0; - out_1327881932680008443[25] = 0.0; - out_1327881932680008443[26] = 0.0; - out_1327881932680008443[27] = 0.0; - out_1327881932680008443[28] = 0.0; - out_1327881932680008443[29] = 0.0; - out_1327881932680008443[30] = 1.0; - out_1327881932680008443[31] = 0.0; - out_1327881932680008443[32] = 0.0; - out_1327881932680008443[33] = 0.0; - out_1327881932680008443[34] = 0.0; - out_1327881932680008443[35] = 0.0; - out_1327881932680008443[36] = 0.0; - out_1327881932680008443[37] = 0.0; - out_1327881932680008443[38] = 0.0; - out_1327881932680008443[39] = 0.0; - out_1327881932680008443[40] = 1.0; - out_1327881932680008443[41] = 0.0; - out_1327881932680008443[42] = 0.0; - out_1327881932680008443[43] = 0.0; - out_1327881932680008443[44] = 0.0; - out_1327881932680008443[45] = 0.0; - out_1327881932680008443[46] = 0.0; - out_1327881932680008443[47] = 0.0; - out_1327881932680008443[48] = 0.0; - out_1327881932680008443[49] = 0.0; - out_1327881932680008443[50] = 1.0; - out_1327881932680008443[51] = 0.0; - out_1327881932680008443[52] = 0.0; - out_1327881932680008443[53] = 0.0; - out_1327881932680008443[54] = 0.0; - out_1327881932680008443[55] = 0.0; - out_1327881932680008443[56] = 0.0; - out_1327881932680008443[57] = 0.0; - out_1327881932680008443[58] = 0.0; - out_1327881932680008443[59] = 0.0; - out_1327881932680008443[60] = 1.0; - out_1327881932680008443[61] = 0.0; - out_1327881932680008443[62] = 0.0; - out_1327881932680008443[63] = 0.0; - out_1327881932680008443[64] = 0.0; - out_1327881932680008443[65] = 0.0; - out_1327881932680008443[66] = 0.0; - out_1327881932680008443[67] = 0.0; - out_1327881932680008443[68] = 0.0; - out_1327881932680008443[69] = 0.0; - out_1327881932680008443[70] = 1.0; - out_1327881932680008443[71] = 0.0; - out_1327881932680008443[72] = 0.0; - out_1327881932680008443[73] = 0.0; - out_1327881932680008443[74] = 0.0; - out_1327881932680008443[75] = 0.0; - out_1327881932680008443[76] = 0.0; - out_1327881932680008443[77] = 0.0; - out_1327881932680008443[78] = 0.0; - out_1327881932680008443[79] = 0.0; - out_1327881932680008443[80] = 1.0; +void H_mod_fun(double *state, double *out_7322816943518629238) { + out_7322816943518629238[0] = 1.0; + out_7322816943518629238[1] = 0.0; + out_7322816943518629238[2] = 0.0; + out_7322816943518629238[3] = 0.0; + out_7322816943518629238[4] = 0.0; + out_7322816943518629238[5] = 0.0; + out_7322816943518629238[6] = 0.0; + out_7322816943518629238[7] = 0.0; + out_7322816943518629238[8] = 0.0; + out_7322816943518629238[9] = 0.0; + out_7322816943518629238[10] = 1.0; + out_7322816943518629238[11] = 0.0; + out_7322816943518629238[12] = 0.0; + out_7322816943518629238[13] = 0.0; + out_7322816943518629238[14] = 0.0; + out_7322816943518629238[15] = 0.0; + out_7322816943518629238[16] = 0.0; + out_7322816943518629238[17] = 0.0; + out_7322816943518629238[18] = 0.0; + out_7322816943518629238[19] = 0.0; + out_7322816943518629238[20] = 1.0; + out_7322816943518629238[21] = 0.0; + out_7322816943518629238[22] = 0.0; + out_7322816943518629238[23] = 0.0; + out_7322816943518629238[24] = 0.0; + out_7322816943518629238[25] = 0.0; + out_7322816943518629238[26] = 0.0; + out_7322816943518629238[27] = 0.0; + out_7322816943518629238[28] = 0.0; + out_7322816943518629238[29] = 0.0; + out_7322816943518629238[30] = 1.0; + out_7322816943518629238[31] = 0.0; + out_7322816943518629238[32] = 0.0; + out_7322816943518629238[33] = 0.0; + out_7322816943518629238[34] = 0.0; + out_7322816943518629238[35] = 0.0; + out_7322816943518629238[36] = 0.0; + out_7322816943518629238[37] = 0.0; + out_7322816943518629238[38] = 0.0; + out_7322816943518629238[39] = 0.0; + out_7322816943518629238[40] = 1.0; + out_7322816943518629238[41] = 0.0; + out_7322816943518629238[42] = 0.0; + out_7322816943518629238[43] = 0.0; + out_7322816943518629238[44] = 0.0; + out_7322816943518629238[45] = 0.0; + out_7322816943518629238[46] = 0.0; + out_7322816943518629238[47] = 0.0; + out_7322816943518629238[48] = 0.0; + out_7322816943518629238[49] = 0.0; + out_7322816943518629238[50] = 1.0; + out_7322816943518629238[51] = 0.0; + out_7322816943518629238[52] = 0.0; + out_7322816943518629238[53] = 0.0; + out_7322816943518629238[54] = 0.0; + out_7322816943518629238[55] = 0.0; + out_7322816943518629238[56] = 0.0; + out_7322816943518629238[57] = 0.0; + out_7322816943518629238[58] = 0.0; + out_7322816943518629238[59] = 0.0; + out_7322816943518629238[60] = 1.0; + out_7322816943518629238[61] = 0.0; + out_7322816943518629238[62] = 0.0; + out_7322816943518629238[63] = 0.0; + out_7322816943518629238[64] = 0.0; + out_7322816943518629238[65] = 0.0; + out_7322816943518629238[66] = 0.0; + out_7322816943518629238[67] = 0.0; + out_7322816943518629238[68] = 0.0; + out_7322816943518629238[69] = 0.0; + out_7322816943518629238[70] = 1.0; + out_7322816943518629238[71] = 0.0; + out_7322816943518629238[72] = 0.0; + out_7322816943518629238[73] = 0.0; + out_7322816943518629238[74] = 0.0; + out_7322816943518629238[75] = 0.0; + out_7322816943518629238[76] = 0.0; + out_7322816943518629238[77] = 0.0; + out_7322816943518629238[78] = 0.0; + out_7322816943518629238[79] = 0.0; + out_7322816943518629238[80] = 1.0; } -void f_fun(double *state, double dt, double *out_7832214154397608531) { - out_7832214154397608531[0] = state[0]; - out_7832214154397608531[1] = state[1]; - out_7832214154397608531[2] = state[2]; - out_7832214154397608531[3] = state[3]; - out_7832214154397608531[4] = state[4]; - out_7832214154397608531[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_7832214154397608531[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_7832214154397608531[7] = state[7]; - out_7832214154397608531[8] = state[8]; +void f_fun(double *state, double dt, double *out_6429621653186063469) { + out_6429621653186063469[0] = state[0]; + out_6429621653186063469[1] = state[1]; + out_6429621653186063469[2] = state[2]; + out_6429621653186063469[3] = state[3]; + out_6429621653186063469[4] = state[4]; + out_6429621653186063469[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_6429621653186063469[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_6429621653186063469[7] = state[7]; + out_6429621653186063469[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4114606570946988857) { - out_4114606570946988857[0] = 1; - out_4114606570946988857[1] = 0; - out_4114606570946988857[2] = 0; - out_4114606570946988857[3] = 0; - out_4114606570946988857[4] = 0; - out_4114606570946988857[5] = 0; - out_4114606570946988857[6] = 0; - out_4114606570946988857[7] = 0; - out_4114606570946988857[8] = 0; - out_4114606570946988857[9] = 0; - out_4114606570946988857[10] = 1; - out_4114606570946988857[11] = 0; - out_4114606570946988857[12] = 0; - out_4114606570946988857[13] = 0; - out_4114606570946988857[14] = 0; - out_4114606570946988857[15] = 0; - out_4114606570946988857[16] = 0; - out_4114606570946988857[17] = 0; - out_4114606570946988857[18] = 0; - out_4114606570946988857[19] = 0; - out_4114606570946988857[20] = 1; - out_4114606570946988857[21] = 0; - out_4114606570946988857[22] = 0; - out_4114606570946988857[23] = 0; - out_4114606570946988857[24] = 0; - out_4114606570946988857[25] = 0; - out_4114606570946988857[26] = 0; - out_4114606570946988857[27] = 0; - out_4114606570946988857[28] = 0; - out_4114606570946988857[29] = 0; - out_4114606570946988857[30] = 1; - out_4114606570946988857[31] = 0; - out_4114606570946988857[32] = 0; - out_4114606570946988857[33] = 0; - out_4114606570946988857[34] = 0; - out_4114606570946988857[35] = 0; - out_4114606570946988857[36] = 0; - out_4114606570946988857[37] = 0; - out_4114606570946988857[38] = 0; - out_4114606570946988857[39] = 0; - out_4114606570946988857[40] = 1; - out_4114606570946988857[41] = 0; - out_4114606570946988857[42] = 0; - out_4114606570946988857[43] = 0; - out_4114606570946988857[44] = 0; - out_4114606570946988857[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_4114606570946988857[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4114606570946988857[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4114606570946988857[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4114606570946988857[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_4114606570946988857[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4114606570946988857[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4114606570946988857[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4114606570946988857[53] = -9.8100000000000005*dt; - out_4114606570946988857[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_4114606570946988857[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4114606570946988857[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4114606570946988857[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4114606570946988857[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_4114606570946988857[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4114606570946988857[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_4114606570946988857[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4114606570946988857[62] = 0; - out_4114606570946988857[63] = 0; - out_4114606570946988857[64] = 0; - out_4114606570946988857[65] = 0; - out_4114606570946988857[66] = 0; - out_4114606570946988857[67] = 0; - out_4114606570946988857[68] = 0; - out_4114606570946988857[69] = 0; - out_4114606570946988857[70] = 1; - out_4114606570946988857[71] = 0; - out_4114606570946988857[72] = 0; - out_4114606570946988857[73] = 0; - out_4114606570946988857[74] = 0; - out_4114606570946988857[75] = 0; - out_4114606570946988857[76] = 0; - out_4114606570946988857[77] = 0; - out_4114606570946988857[78] = 0; - out_4114606570946988857[79] = 0; - out_4114606570946988857[80] = 1; +void F_fun(double *state, double dt, double *out_4451613020495234820) { + out_4451613020495234820[0] = 1; + out_4451613020495234820[1] = 0; + out_4451613020495234820[2] = 0; + out_4451613020495234820[3] = 0; + out_4451613020495234820[4] = 0; + out_4451613020495234820[5] = 0; + out_4451613020495234820[6] = 0; + out_4451613020495234820[7] = 0; + out_4451613020495234820[8] = 0; + out_4451613020495234820[9] = 0; + out_4451613020495234820[10] = 1; + out_4451613020495234820[11] = 0; + out_4451613020495234820[12] = 0; + out_4451613020495234820[13] = 0; + out_4451613020495234820[14] = 0; + out_4451613020495234820[15] = 0; + out_4451613020495234820[16] = 0; + out_4451613020495234820[17] = 0; + out_4451613020495234820[18] = 0; + out_4451613020495234820[19] = 0; + out_4451613020495234820[20] = 1; + out_4451613020495234820[21] = 0; + out_4451613020495234820[22] = 0; + out_4451613020495234820[23] = 0; + out_4451613020495234820[24] = 0; + out_4451613020495234820[25] = 0; + out_4451613020495234820[26] = 0; + out_4451613020495234820[27] = 0; + out_4451613020495234820[28] = 0; + out_4451613020495234820[29] = 0; + out_4451613020495234820[30] = 1; + out_4451613020495234820[31] = 0; + out_4451613020495234820[32] = 0; + out_4451613020495234820[33] = 0; + out_4451613020495234820[34] = 0; + out_4451613020495234820[35] = 0; + out_4451613020495234820[36] = 0; + out_4451613020495234820[37] = 0; + out_4451613020495234820[38] = 0; + out_4451613020495234820[39] = 0; + out_4451613020495234820[40] = 1; + out_4451613020495234820[41] = 0; + out_4451613020495234820[42] = 0; + out_4451613020495234820[43] = 0; + out_4451613020495234820[44] = 0; + out_4451613020495234820[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_4451613020495234820[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4451613020495234820[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4451613020495234820[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4451613020495234820[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_4451613020495234820[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4451613020495234820[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4451613020495234820[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4451613020495234820[53] = -9.8100000000000005*dt; + out_4451613020495234820[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_4451613020495234820[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4451613020495234820[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4451613020495234820[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4451613020495234820[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_4451613020495234820[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4451613020495234820[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_4451613020495234820[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4451613020495234820[62] = 0; + out_4451613020495234820[63] = 0; + out_4451613020495234820[64] = 0; + out_4451613020495234820[65] = 0; + out_4451613020495234820[66] = 0; + out_4451613020495234820[67] = 0; + out_4451613020495234820[68] = 0; + out_4451613020495234820[69] = 0; + out_4451613020495234820[70] = 1; + out_4451613020495234820[71] = 0; + out_4451613020495234820[72] = 0; + out_4451613020495234820[73] = 0; + out_4451613020495234820[74] = 0; + out_4451613020495234820[75] = 0; + out_4451613020495234820[76] = 0; + out_4451613020495234820[77] = 0; + out_4451613020495234820[78] = 0; + out_4451613020495234820[79] = 0; + out_4451613020495234820[80] = 1; } -void h_25(double *state, double *unused, double *out_8263447783360605785) { - out_8263447783360605785[0] = state[6]; +void h_25(double *state, double *unused, double *out_5140546513771631716) { + out_5140546513771631716[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5780776564353391637) { - out_5780776564353391637[0] = 0; - out_5780776564353391637[1] = 0; - out_5780776564353391637[2] = 0; - out_5780776564353391637[3] = 0; - out_5780776564353391637[4] = 0; - out_5780776564353391637[5] = 0; - out_5780776564353391637[6] = 1; - out_5780776564353391637[7] = 0; - out_5780776564353391637[8] = 0; +void H_25(double *state, double *unused, double *out_1930738904278685141) { + out_1930738904278685141[0] = 0; + out_1930738904278685141[1] = 0; + out_1930738904278685141[2] = 0; + out_1930738904278685141[3] = 0; + out_1930738904278685141[4] = 0; + out_1930738904278685141[5] = 0; + out_1930738904278685141[6] = 1; + out_1930738904278685141[7] = 0; + out_1930738904278685141[8] = 0; } -void h_24(double *state, double *unused, double *out_4755010794979530940) { - out_4755010794979530940[0] = state[4]; - out_4755010794979530940[1] = state[5]; +void h_24(double *state, double *unused, double *out_867003127290538570) { + out_867003127290538570[0] = state[4]; + out_867003127290538570[1] = state[5]; } -void H_24(double *state, double *unused, double *out_9108041910553836843) { - out_9108041910553836843[0] = 0; - out_9108041910553836843[1] = 0; - out_9108041910553836843[2] = 0; - out_9108041910553836843[3] = 0; - out_9108041910553836843[4] = 1; - out_9108041910553836843[5] = 0; - out_9108041910553836843[6] = 0; - out_9108041910553836843[7] = 0; - out_9108041910553836843[8] = 0; - out_9108041910553836843[9] = 0; - out_9108041910553836843[10] = 0; - out_9108041910553836843[11] = 0; - out_9108041910553836843[12] = 0; - out_9108041910553836843[13] = 0; - out_9108041910553836843[14] = 1; - out_9108041910553836843[15] = 0; - out_9108041910553836843[16] = 0; - out_9108041910553836843[17] = 0; +void H_24(double *state, double *unused, double *out_4156446688257553703) { + out_4156446688257553703[0] = 0; + out_4156446688257553703[1] = 0; + out_4156446688257553703[2] = 0; + out_4156446688257553703[3] = 0; + out_4156446688257553703[4] = 1; + out_4156446688257553703[5] = 0; + out_4156446688257553703[6] = 0; + out_4156446688257553703[7] = 0; + out_4156446688257553703[8] = 0; + out_4156446688257553703[9] = 0; + out_4156446688257553703[10] = 0; + out_4156446688257553703[11] = 0; + out_4156446688257553703[12] = 0; + out_4156446688257553703[13] = 0; + out_4156446688257553703[14] = 1; + out_4156446688257553703[15] = 0; + out_4156446688257553703[16] = 0; + out_4156446688257553703[17] = 0; } -void h_30(double *state, double *unused, double *out_6812816390731722618) { - out_6812816390731722618[0] = state[4]; +void h_30(double *state, double *unused, double *out_5297733182122760861) { + out_5297733182122760861[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5749277167864543224) { - out_5749277167864543224[0] = 0; - out_5749277167864543224[1] = 0; - out_5749277167864543224[2] = 0; - out_5749277167864543224[3] = 0; - out_5749277167864543224[4] = 1; - out_5749277167864543224[5] = 0; - out_5749277167864543224[6] = 0; - out_5749277167864543224[7] = 0; - out_5749277167864543224[8] = 0; +void H_30(double *state, double *unused, double *out_8847429245770301896) { + out_8847429245770301896[0] = 0; + out_8847429245770301896[1] = 0; + out_8847429245770301896[2] = 0; + out_8847429245770301896[3] = 0; + out_8847429245770301896[4] = 1; + out_8847429245770301896[5] = 0; + out_8847429245770301896[6] = 0; + out_8847429245770301896[7] = 0; + out_8847429245770301896[8] = 0; } -void h_26(double *state, double *unused, double *out_4631164979184763219) { - out_4631164979184763219[0] = state[7]; +void h_26(double *state, double *unused, double *out_8147337623925945110) { + out_8147337623925945110[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2039273245479335413) { - out_2039273245479335413[0] = 0; - out_2039273245479335413[1] = 0; - out_2039273245479335413[2] = 0; - out_2039273245479335413[3] = 0; - out_2039273245479335413[4] = 0; - out_2039273245479335413[5] = 0; - out_2039273245479335413[6] = 0; - out_2039273245479335413[7] = 1; - out_2039273245479335413[8] = 0; +void H_26(double *state, double *unused, double *out_1810764414595371083) { + out_1810764414595371083[0] = 0; + out_1810764414595371083[1] = 0; + out_1810764414595371083[2] = 0; + out_1810764414595371083[3] = 0; + out_1810764414595371083[4] = 0; + out_1810764414595371083[5] = 0; + out_1810764414595371083[6] = 0; + out_1810764414595371083[7] = 1; + out_1810764414595371083[8] = 0; } -void h_27(double *state, double *unused, double *out_6907448477601489242) { - out_6907448477601489242[0] = state[3]; +void h_27(double *state, double *unused, double *out_217345790508090885) { + out_217345790508090885[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7924040479664968135) { - out_7924040479664968135[0] = 0; - out_7924040479664968135[1] = 0; - out_7924040479664968135[2] = 0; - out_7924040479664968135[3] = 1; - out_7924040479664968135[4] = 0; - out_7924040479664968135[5] = 0; - out_7924040479664968135[6] = 0; - out_7924040479664968135[7] = 0; - out_7924040479664968135[8] = 0; +void H_27(double *state, double *unused, double *out_6672665933969876985) { + out_6672665933969876985[0] = 0; + out_6672665933969876985[1] = 0; + out_6672665933969876985[2] = 0; + out_6672665933969876985[3] = 1; + out_6672665933969876985[4] = 0; + out_6672665933969876985[5] = 0; + out_6672665933969876985[6] = 0; + out_6672665933969876985[7] = 0; + out_6672665933969876985[8] = 0; } -void h_29(double *state, double *unused, double *out_6632254415316983353) { - out_6632254415316983353[0] = state[1]; +void h_29(double *state, double *unused, double *out_675547152666652547) { + out_675547152666652547[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5239045823550151040) { - out_5239045823550151040[0] = 0; - out_5239045823550151040[1] = 1; - out_5239045823550151040[2] = 0; - out_5239045823550151040[3] = 0; - out_5239045823550151040[4] = 0; - out_5239045823550151040[5] = 0; - out_5239045823550151040[6] = 0; - out_5239045823550151040[7] = 0; - out_5239045823550151040[8] = 0; +void H_29(double *state, double *unused, double *out_9089083483624857536) { + out_9089083483624857536[0] = 0; + out_9089083483624857536[1] = 1; + out_9089083483624857536[2] = 0; + out_9089083483624857536[3] = 0; + out_9089083483624857536[4] = 0; + out_9089083483624857536[5] = 0; + out_9089083483624857536[6] = 0; + out_9089083483624857536[7] = 0; + out_9089083483624857536[8] = 0; } -void h_28(double *state, double *unused, double *out_4283151879014610665) { - out_4283151879014610665[0] = state[0]; +void h_28(double *state, double *unused, double *out_4927544272607556652) { + out_4927544272607556652[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8125299233089870002) { - out_8125299233089870002[0] = 1; - out_8125299233089870002[1] = 0; - out_8125299233089870002[2] = 0; - out_8125299233089870002[3] = 0; - out_8125299233089870002[4] = 0; - out_8125299233089870002[5] = 0; - out_8125299233089870002[6] = 0; - out_8125299233089870002[7] = 0; - out_8125299233089870002[8] = 0; +void H_28(double *state, double *unused, double *out_123095809969204622) { + out_123095809969204622[0] = 1; + out_123095809969204622[1] = 0; + out_123095809969204622[2] = 0; + out_123095809969204622[3] = 0; + out_123095809969204622[4] = 0; + out_123095809969204622[5] = 0; + out_123095809969204622[6] = 0; + out_123095809969204622[7] = 0; + out_123095809969204622[8] = 0; } -void h_31(double *state, double *unused, double *out_7988253721076099896) { - out_7988253721076099896[0] = state[8]; +void h_31(double *state, double *unused, double *out_2544246198651735911) { + out_2544246198651735911[0] = state[8]; } -void H_31(double *state, double *unused, double *out_5811422526230352065) { - out_5811422526230352065[0] = 0; - out_5811422526230352065[1] = 0; - out_5811422526230352065[2] = 0; - out_5811422526230352065[3] = 0; - out_5811422526230352065[4] = 0; - out_5811422526230352065[5] = 0; - out_5811422526230352065[6] = 0; - out_5811422526230352065[7] = 0; - out_5811422526230352065[8] = 1; +void H_31(double *state, double *unused, double *out_1961384866155645569) { + out_1961384866155645569[0] = 0; + out_1961384866155645569[1] = 0; + out_1961384866155645569[2] = 0; + out_1961384866155645569[3] = 0; + out_1961384866155645569[4] = 0; + out_1961384866155645569[5] = 0; + out_1961384866155645569[6] = 0; + out_1961384866155645569[7] = 0; + out_1961384866155645569[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_8986378044421410730) { - err_fun(nom_x, delta_x, out_8986378044421410730); +void car_err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934) { + err_fun(nom_x, delta_x, out_1982741958495934934); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1940910250995899848) { - inv_err_fun(nom_x, true_x, out_1940910250995899848); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) { + inv_err_fun(nom_x, true_x, out_1965858196176103805); } -void car_H_mod_fun(double *state, double *out_1327881932680008443) { - H_mod_fun(state, out_1327881932680008443); +void car_H_mod_fun(double *state, double *out_7322816943518629238) { + H_mod_fun(state, out_7322816943518629238); } -void car_f_fun(double *state, double dt, double *out_7832214154397608531) { - f_fun(state, dt, out_7832214154397608531); +void car_f_fun(double *state, double dt, double *out_6429621653186063469) { + f_fun(state, dt, out_6429621653186063469); } -void car_F_fun(double *state, double dt, double *out_4114606570946988857) { - F_fun(state, dt, out_4114606570946988857); +void car_F_fun(double *state, double dt, double *out_4451613020495234820) { + F_fun(state, dt, out_4451613020495234820); } -void car_h_25(double *state, double *unused, double *out_8263447783360605785) { - h_25(state, unused, out_8263447783360605785); +void car_h_25(double *state, double *unused, double *out_5140546513771631716) { + h_25(state, unused, out_5140546513771631716); } -void car_H_25(double *state, double *unused, double *out_5780776564353391637) { - H_25(state, unused, out_5780776564353391637); +void car_H_25(double *state, double *unused, double *out_1930738904278685141) { + H_25(state, unused, out_1930738904278685141); } -void car_h_24(double *state, double *unused, double *out_4755010794979530940) { - h_24(state, unused, out_4755010794979530940); +void car_h_24(double *state, double *unused, double *out_867003127290538570) { + h_24(state, unused, out_867003127290538570); } -void car_H_24(double *state, double *unused, double *out_9108041910553836843) { - H_24(state, unused, out_9108041910553836843); +void car_H_24(double *state, double *unused, double *out_4156446688257553703) { + H_24(state, unused, out_4156446688257553703); } -void car_h_30(double *state, double *unused, double *out_6812816390731722618) { - h_30(state, unused, out_6812816390731722618); +void car_h_30(double *state, double *unused, double *out_5297733182122760861) { + h_30(state, unused, out_5297733182122760861); } -void car_H_30(double *state, double *unused, double *out_5749277167864543224) { - H_30(state, unused, out_5749277167864543224); +void car_H_30(double *state, double *unused, double *out_8847429245770301896) { + H_30(state, unused, out_8847429245770301896); } -void car_h_26(double *state, double *unused, double *out_4631164979184763219) { - h_26(state, unused, out_4631164979184763219); +void car_h_26(double *state, double *unused, double *out_8147337623925945110) { + h_26(state, unused, out_8147337623925945110); } -void car_H_26(double *state, double *unused, double *out_2039273245479335413) { - H_26(state, unused, out_2039273245479335413); +void car_H_26(double *state, double *unused, double *out_1810764414595371083) { + H_26(state, unused, out_1810764414595371083); } -void car_h_27(double *state, double *unused, double *out_6907448477601489242) { - h_27(state, unused, out_6907448477601489242); +void car_h_27(double *state, double *unused, double *out_217345790508090885) { + h_27(state, unused, out_217345790508090885); } -void car_H_27(double *state, double *unused, double *out_7924040479664968135) { - H_27(state, unused, out_7924040479664968135); +void car_H_27(double *state, double *unused, double *out_6672665933969876985) { + H_27(state, unused, out_6672665933969876985); } -void car_h_29(double *state, double *unused, double *out_6632254415316983353) { - h_29(state, unused, out_6632254415316983353); +void car_h_29(double *state, double *unused, double *out_675547152666652547) { + h_29(state, unused, out_675547152666652547); } -void car_H_29(double *state, double *unused, double *out_5239045823550151040) { - H_29(state, unused, out_5239045823550151040); +void car_H_29(double *state, double *unused, double *out_9089083483624857536) { + H_29(state, unused, out_9089083483624857536); } -void car_h_28(double *state, double *unused, double *out_4283151879014610665) { - h_28(state, unused, out_4283151879014610665); +void car_h_28(double *state, double *unused, double *out_4927544272607556652) { + h_28(state, unused, out_4927544272607556652); } -void car_H_28(double *state, double *unused, double *out_8125299233089870002) { - H_28(state, unused, out_8125299233089870002); +void car_H_28(double *state, double *unused, double *out_123095809969204622) { + H_28(state, unused, out_123095809969204622); } -void car_h_31(double *state, double *unused, double *out_7988253721076099896) { - h_31(state, unused, out_7988253721076099896); +void car_h_31(double *state, double *unused, double *out_2544246198651735911) { + h_31(state, unused, out_2544246198651735911); } -void car_H_31(double *state, double *unused, double *out_5811422526230352065) { - H_31(state, unused, out_5811422526230352065); +void car_H_31(double *state, double *unused, double *out_1961384866155645569) { + H_31(state, unused, out_1961384866155645569); } 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 82df6e62d..c2cc266dc 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_8986378044421410730); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1940910250995899848); -void car_H_mod_fun(double *state, double *out_1327881932680008443); -void car_f_fun(double *state, double dt, double *out_7832214154397608531); -void car_F_fun(double *state, double dt, double *out_4114606570946988857); -void car_h_25(double *state, double *unused, double *out_8263447783360605785); -void car_H_25(double *state, double *unused, double *out_5780776564353391637); -void car_h_24(double *state, double *unused, double *out_4755010794979530940); -void car_H_24(double *state, double *unused, double *out_9108041910553836843); -void car_h_30(double *state, double *unused, double *out_6812816390731722618); -void car_H_30(double *state, double *unused, double *out_5749277167864543224); -void car_h_26(double *state, double *unused, double *out_4631164979184763219); -void car_H_26(double *state, double *unused, double *out_2039273245479335413); -void car_h_27(double *state, double *unused, double *out_6907448477601489242); -void car_H_27(double *state, double *unused, double *out_7924040479664968135); -void car_h_29(double *state, double *unused, double *out_6632254415316983353); -void car_H_29(double *state, double *unused, double *out_5239045823550151040); -void car_h_28(double *state, double *unused, double *out_4283151879014610665); -void car_H_28(double *state, double *unused, double *out_8125299233089870002); -void car_h_31(double *state, double *unused, double *out_7988253721076099896); -void car_H_31(double *state, double *unused, double *out_5811422526230352065); +void car_err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805); +void car_H_mod_fun(double *state, double *out_7322816943518629238); +void car_f_fun(double *state, double dt, double *out_6429621653186063469); +void car_F_fun(double *state, double dt, double *out_4451613020495234820); +void car_h_25(double *state, double *unused, double *out_5140546513771631716); +void car_H_25(double *state, double *unused, double *out_1930738904278685141); +void car_h_24(double *state, double *unused, double *out_867003127290538570); +void car_H_24(double *state, double *unused, double *out_4156446688257553703); +void car_h_30(double *state, double *unused, double *out_5297733182122760861); +void car_H_30(double *state, double *unused, double *out_8847429245770301896); +void car_h_26(double *state, double *unused, double *out_8147337623925945110); +void car_H_26(double *state, double *unused, double *out_1810764414595371083); +void car_h_27(double *state, double *unused, double *out_217345790508090885); +void car_H_27(double *state, double *unused, double *out_6672665933969876985); +void car_h_29(double *state, double *unused, double *out_675547152666652547); +void car_H_29(double *state, double *unused, double *out_9089083483624857536); +void car_h_28(double *state, double *unused, double *out_4927544272607556652); +void car_H_28(double *state, double *unused, double *out_123095809969204622); +void car_h_31(double *state, double *unused, double *out_2544246198651735911); +void car_H_31(double *state, double *unused, double *out_1961384866155645569); 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 5dfedfda0..b9f42ff6a 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_1282506072975981321) { - out_1282506072975981321[0] = delta_x[0] + nom_x[0]; - out_1282506072975981321[1] = delta_x[1] + nom_x[1]; - out_1282506072975981321[2] = delta_x[2] + nom_x[2]; - out_1282506072975981321[3] = delta_x[3] + nom_x[3]; - out_1282506072975981321[4] = delta_x[4] + nom_x[4]; - out_1282506072975981321[5] = delta_x[5] + nom_x[5]; - out_1282506072975981321[6] = delta_x[6] + nom_x[6]; - out_1282506072975981321[7] = delta_x[7] + nom_x[7]; - out_1282506072975981321[8] = delta_x[8] + nom_x[8]; - out_1282506072975981321[9] = delta_x[9] + nom_x[9]; - out_1282506072975981321[10] = delta_x[10] + nom_x[10]; - out_1282506072975981321[11] = delta_x[11] + nom_x[11]; - out_1282506072975981321[12] = delta_x[12] + nom_x[12]; - out_1282506072975981321[13] = delta_x[13] + nom_x[13]; - out_1282506072975981321[14] = delta_x[14] + nom_x[14]; - out_1282506072975981321[15] = delta_x[15] + nom_x[15]; - out_1282506072975981321[16] = delta_x[16] + nom_x[16]; - out_1282506072975981321[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3122087598286484509) { + out_3122087598286484509[0] = delta_x[0] + nom_x[0]; + out_3122087598286484509[1] = delta_x[1] + nom_x[1]; + out_3122087598286484509[2] = delta_x[2] + nom_x[2]; + out_3122087598286484509[3] = delta_x[3] + nom_x[3]; + out_3122087598286484509[4] = delta_x[4] + nom_x[4]; + out_3122087598286484509[5] = delta_x[5] + nom_x[5]; + out_3122087598286484509[6] = delta_x[6] + nom_x[6]; + out_3122087598286484509[7] = delta_x[7] + nom_x[7]; + out_3122087598286484509[8] = delta_x[8] + nom_x[8]; + out_3122087598286484509[9] = delta_x[9] + nom_x[9]; + out_3122087598286484509[10] = delta_x[10] + nom_x[10]; + out_3122087598286484509[11] = delta_x[11] + nom_x[11]; + out_3122087598286484509[12] = delta_x[12] + nom_x[12]; + out_3122087598286484509[13] = delta_x[13] + nom_x[13]; + out_3122087598286484509[14] = delta_x[14] + nom_x[14]; + out_3122087598286484509[15] = delta_x[15] + nom_x[15]; + out_3122087598286484509[16] = delta_x[16] + nom_x[16]; + out_3122087598286484509[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8512738075508223963) { - out_8512738075508223963[0] = -nom_x[0] + true_x[0]; - out_8512738075508223963[1] = -nom_x[1] + true_x[1]; - out_8512738075508223963[2] = -nom_x[2] + true_x[2]; - out_8512738075508223963[3] = -nom_x[3] + true_x[3]; - out_8512738075508223963[4] = -nom_x[4] + true_x[4]; - out_8512738075508223963[5] = -nom_x[5] + true_x[5]; - out_8512738075508223963[6] = -nom_x[6] + true_x[6]; - out_8512738075508223963[7] = -nom_x[7] + true_x[7]; - out_8512738075508223963[8] = -nom_x[8] + true_x[8]; - out_8512738075508223963[9] = -nom_x[9] + true_x[9]; - out_8512738075508223963[10] = -nom_x[10] + true_x[10]; - out_8512738075508223963[11] = -nom_x[11] + true_x[11]; - out_8512738075508223963[12] = -nom_x[12] + true_x[12]; - out_8512738075508223963[13] = -nom_x[13] + true_x[13]; - out_8512738075508223963[14] = -nom_x[14] + true_x[14]; - out_8512738075508223963[15] = -nom_x[15] + true_x[15]; - out_8512738075508223963[16] = -nom_x[16] + true_x[16]; - out_8512738075508223963[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507) { + out_6671609920081726507[0] = -nom_x[0] + true_x[0]; + out_6671609920081726507[1] = -nom_x[1] + true_x[1]; + out_6671609920081726507[2] = -nom_x[2] + true_x[2]; + out_6671609920081726507[3] = -nom_x[3] + true_x[3]; + out_6671609920081726507[4] = -nom_x[4] + true_x[4]; + out_6671609920081726507[5] = -nom_x[5] + true_x[5]; + out_6671609920081726507[6] = -nom_x[6] + true_x[6]; + out_6671609920081726507[7] = -nom_x[7] + true_x[7]; + out_6671609920081726507[8] = -nom_x[8] + true_x[8]; + out_6671609920081726507[9] = -nom_x[9] + true_x[9]; + out_6671609920081726507[10] = -nom_x[10] + true_x[10]; + out_6671609920081726507[11] = -nom_x[11] + true_x[11]; + out_6671609920081726507[12] = -nom_x[12] + true_x[12]; + out_6671609920081726507[13] = -nom_x[13] + true_x[13]; + out_6671609920081726507[14] = -nom_x[14] + true_x[14]; + out_6671609920081726507[15] = -nom_x[15] + true_x[15]; + out_6671609920081726507[16] = -nom_x[16] + true_x[16]; + out_6671609920081726507[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3135048301285292021) { - out_3135048301285292021[0] = 1.0; - out_3135048301285292021[1] = 0.0; - out_3135048301285292021[2] = 0.0; - out_3135048301285292021[3] = 0.0; - out_3135048301285292021[4] = 0.0; - out_3135048301285292021[5] = 0.0; - out_3135048301285292021[6] = 0.0; - out_3135048301285292021[7] = 0.0; - out_3135048301285292021[8] = 0.0; - out_3135048301285292021[9] = 0.0; - out_3135048301285292021[10] = 0.0; - out_3135048301285292021[11] = 0.0; - out_3135048301285292021[12] = 0.0; - out_3135048301285292021[13] = 0.0; - out_3135048301285292021[14] = 0.0; - out_3135048301285292021[15] = 0.0; - out_3135048301285292021[16] = 0.0; - out_3135048301285292021[17] = 0.0; - out_3135048301285292021[18] = 0.0; - out_3135048301285292021[19] = 1.0; - out_3135048301285292021[20] = 0.0; - out_3135048301285292021[21] = 0.0; - out_3135048301285292021[22] = 0.0; - out_3135048301285292021[23] = 0.0; - out_3135048301285292021[24] = 0.0; - out_3135048301285292021[25] = 0.0; - out_3135048301285292021[26] = 0.0; - out_3135048301285292021[27] = 0.0; - out_3135048301285292021[28] = 0.0; - out_3135048301285292021[29] = 0.0; - out_3135048301285292021[30] = 0.0; - out_3135048301285292021[31] = 0.0; - out_3135048301285292021[32] = 0.0; - out_3135048301285292021[33] = 0.0; - out_3135048301285292021[34] = 0.0; - out_3135048301285292021[35] = 0.0; - out_3135048301285292021[36] = 0.0; - out_3135048301285292021[37] = 0.0; - out_3135048301285292021[38] = 1.0; - out_3135048301285292021[39] = 0.0; - out_3135048301285292021[40] = 0.0; - out_3135048301285292021[41] = 0.0; - out_3135048301285292021[42] = 0.0; - out_3135048301285292021[43] = 0.0; - out_3135048301285292021[44] = 0.0; - out_3135048301285292021[45] = 0.0; - out_3135048301285292021[46] = 0.0; - out_3135048301285292021[47] = 0.0; - out_3135048301285292021[48] = 0.0; - out_3135048301285292021[49] = 0.0; - out_3135048301285292021[50] = 0.0; - out_3135048301285292021[51] = 0.0; - out_3135048301285292021[52] = 0.0; - out_3135048301285292021[53] = 0.0; - out_3135048301285292021[54] = 0.0; - out_3135048301285292021[55] = 0.0; - out_3135048301285292021[56] = 0.0; - out_3135048301285292021[57] = 1.0; - out_3135048301285292021[58] = 0.0; - out_3135048301285292021[59] = 0.0; - out_3135048301285292021[60] = 0.0; - out_3135048301285292021[61] = 0.0; - out_3135048301285292021[62] = 0.0; - out_3135048301285292021[63] = 0.0; - out_3135048301285292021[64] = 0.0; - out_3135048301285292021[65] = 0.0; - out_3135048301285292021[66] = 0.0; - out_3135048301285292021[67] = 0.0; - out_3135048301285292021[68] = 0.0; - out_3135048301285292021[69] = 0.0; - out_3135048301285292021[70] = 0.0; - out_3135048301285292021[71] = 0.0; - out_3135048301285292021[72] = 0.0; - out_3135048301285292021[73] = 0.0; - out_3135048301285292021[74] = 0.0; - out_3135048301285292021[75] = 0.0; - out_3135048301285292021[76] = 1.0; - out_3135048301285292021[77] = 0.0; - out_3135048301285292021[78] = 0.0; - out_3135048301285292021[79] = 0.0; - out_3135048301285292021[80] = 0.0; - out_3135048301285292021[81] = 0.0; - out_3135048301285292021[82] = 0.0; - out_3135048301285292021[83] = 0.0; - out_3135048301285292021[84] = 0.0; - out_3135048301285292021[85] = 0.0; - out_3135048301285292021[86] = 0.0; - out_3135048301285292021[87] = 0.0; - out_3135048301285292021[88] = 0.0; - out_3135048301285292021[89] = 0.0; - out_3135048301285292021[90] = 0.0; - out_3135048301285292021[91] = 0.0; - out_3135048301285292021[92] = 0.0; - out_3135048301285292021[93] = 0.0; - out_3135048301285292021[94] = 0.0; - out_3135048301285292021[95] = 1.0; - out_3135048301285292021[96] = 0.0; - out_3135048301285292021[97] = 0.0; - out_3135048301285292021[98] = 0.0; - out_3135048301285292021[99] = 0.0; - out_3135048301285292021[100] = 0.0; - out_3135048301285292021[101] = 0.0; - out_3135048301285292021[102] = 0.0; - out_3135048301285292021[103] = 0.0; - out_3135048301285292021[104] = 0.0; - out_3135048301285292021[105] = 0.0; - out_3135048301285292021[106] = 0.0; - out_3135048301285292021[107] = 0.0; - out_3135048301285292021[108] = 0.0; - out_3135048301285292021[109] = 0.0; - out_3135048301285292021[110] = 0.0; - out_3135048301285292021[111] = 0.0; - out_3135048301285292021[112] = 0.0; - out_3135048301285292021[113] = 0.0; - out_3135048301285292021[114] = 1.0; - out_3135048301285292021[115] = 0.0; - out_3135048301285292021[116] = 0.0; - out_3135048301285292021[117] = 0.0; - out_3135048301285292021[118] = 0.0; - out_3135048301285292021[119] = 0.0; - out_3135048301285292021[120] = 0.0; - out_3135048301285292021[121] = 0.0; - out_3135048301285292021[122] = 0.0; - out_3135048301285292021[123] = 0.0; - out_3135048301285292021[124] = 0.0; - out_3135048301285292021[125] = 0.0; - out_3135048301285292021[126] = 0.0; - out_3135048301285292021[127] = 0.0; - out_3135048301285292021[128] = 0.0; - out_3135048301285292021[129] = 0.0; - out_3135048301285292021[130] = 0.0; - out_3135048301285292021[131] = 0.0; - out_3135048301285292021[132] = 0.0; - out_3135048301285292021[133] = 1.0; - out_3135048301285292021[134] = 0.0; - out_3135048301285292021[135] = 0.0; - out_3135048301285292021[136] = 0.0; - out_3135048301285292021[137] = 0.0; - out_3135048301285292021[138] = 0.0; - out_3135048301285292021[139] = 0.0; - out_3135048301285292021[140] = 0.0; - out_3135048301285292021[141] = 0.0; - out_3135048301285292021[142] = 0.0; - out_3135048301285292021[143] = 0.0; - out_3135048301285292021[144] = 0.0; - out_3135048301285292021[145] = 0.0; - out_3135048301285292021[146] = 0.0; - out_3135048301285292021[147] = 0.0; - out_3135048301285292021[148] = 0.0; - out_3135048301285292021[149] = 0.0; - out_3135048301285292021[150] = 0.0; - out_3135048301285292021[151] = 0.0; - out_3135048301285292021[152] = 1.0; - out_3135048301285292021[153] = 0.0; - out_3135048301285292021[154] = 0.0; - out_3135048301285292021[155] = 0.0; - out_3135048301285292021[156] = 0.0; - out_3135048301285292021[157] = 0.0; - out_3135048301285292021[158] = 0.0; - out_3135048301285292021[159] = 0.0; - out_3135048301285292021[160] = 0.0; - out_3135048301285292021[161] = 0.0; - out_3135048301285292021[162] = 0.0; - out_3135048301285292021[163] = 0.0; - out_3135048301285292021[164] = 0.0; - out_3135048301285292021[165] = 0.0; - out_3135048301285292021[166] = 0.0; - out_3135048301285292021[167] = 0.0; - out_3135048301285292021[168] = 0.0; - out_3135048301285292021[169] = 0.0; - out_3135048301285292021[170] = 0.0; - out_3135048301285292021[171] = 1.0; - out_3135048301285292021[172] = 0.0; - out_3135048301285292021[173] = 0.0; - out_3135048301285292021[174] = 0.0; - out_3135048301285292021[175] = 0.0; - out_3135048301285292021[176] = 0.0; - out_3135048301285292021[177] = 0.0; - out_3135048301285292021[178] = 0.0; - out_3135048301285292021[179] = 0.0; - out_3135048301285292021[180] = 0.0; - out_3135048301285292021[181] = 0.0; - out_3135048301285292021[182] = 0.0; - out_3135048301285292021[183] = 0.0; - out_3135048301285292021[184] = 0.0; - out_3135048301285292021[185] = 0.0; - out_3135048301285292021[186] = 0.0; - out_3135048301285292021[187] = 0.0; - out_3135048301285292021[188] = 0.0; - out_3135048301285292021[189] = 0.0; - out_3135048301285292021[190] = 1.0; - out_3135048301285292021[191] = 0.0; - out_3135048301285292021[192] = 0.0; - out_3135048301285292021[193] = 0.0; - out_3135048301285292021[194] = 0.0; - out_3135048301285292021[195] = 0.0; - out_3135048301285292021[196] = 0.0; - out_3135048301285292021[197] = 0.0; - out_3135048301285292021[198] = 0.0; - out_3135048301285292021[199] = 0.0; - out_3135048301285292021[200] = 0.0; - out_3135048301285292021[201] = 0.0; - out_3135048301285292021[202] = 0.0; - out_3135048301285292021[203] = 0.0; - out_3135048301285292021[204] = 0.0; - out_3135048301285292021[205] = 0.0; - out_3135048301285292021[206] = 0.0; - out_3135048301285292021[207] = 0.0; - out_3135048301285292021[208] = 0.0; - out_3135048301285292021[209] = 1.0; - out_3135048301285292021[210] = 0.0; - out_3135048301285292021[211] = 0.0; - out_3135048301285292021[212] = 0.0; - out_3135048301285292021[213] = 0.0; - out_3135048301285292021[214] = 0.0; - out_3135048301285292021[215] = 0.0; - out_3135048301285292021[216] = 0.0; - out_3135048301285292021[217] = 0.0; - out_3135048301285292021[218] = 0.0; - out_3135048301285292021[219] = 0.0; - out_3135048301285292021[220] = 0.0; - out_3135048301285292021[221] = 0.0; - out_3135048301285292021[222] = 0.0; - out_3135048301285292021[223] = 0.0; - out_3135048301285292021[224] = 0.0; - out_3135048301285292021[225] = 0.0; - out_3135048301285292021[226] = 0.0; - out_3135048301285292021[227] = 0.0; - out_3135048301285292021[228] = 1.0; - out_3135048301285292021[229] = 0.0; - out_3135048301285292021[230] = 0.0; - out_3135048301285292021[231] = 0.0; - out_3135048301285292021[232] = 0.0; - out_3135048301285292021[233] = 0.0; - out_3135048301285292021[234] = 0.0; - out_3135048301285292021[235] = 0.0; - out_3135048301285292021[236] = 0.0; - out_3135048301285292021[237] = 0.0; - out_3135048301285292021[238] = 0.0; - out_3135048301285292021[239] = 0.0; - out_3135048301285292021[240] = 0.0; - out_3135048301285292021[241] = 0.0; - out_3135048301285292021[242] = 0.0; - out_3135048301285292021[243] = 0.0; - out_3135048301285292021[244] = 0.0; - out_3135048301285292021[245] = 0.0; - out_3135048301285292021[246] = 0.0; - out_3135048301285292021[247] = 1.0; - out_3135048301285292021[248] = 0.0; - out_3135048301285292021[249] = 0.0; - out_3135048301285292021[250] = 0.0; - out_3135048301285292021[251] = 0.0; - out_3135048301285292021[252] = 0.0; - out_3135048301285292021[253] = 0.0; - out_3135048301285292021[254] = 0.0; - out_3135048301285292021[255] = 0.0; - out_3135048301285292021[256] = 0.0; - out_3135048301285292021[257] = 0.0; - out_3135048301285292021[258] = 0.0; - out_3135048301285292021[259] = 0.0; - out_3135048301285292021[260] = 0.0; - out_3135048301285292021[261] = 0.0; - out_3135048301285292021[262] = 0.0; - out_3135048301285292021[263] = 0.0; - out_3135048301285292021[264] = 0.0; - out_3135048301285292021[265] = 0.0; - out_3135048301285292021[266] = 1.0; - out_3135048301285292021[267] = 0.0; - out_3135048301285292021[268] = 0.0; - out_3135048301285292021[269] = 0.0; - out_3135048301285292021[270] = 0.0; - out_3135048301285292021[271] = 0.0; - out_3135048301285292021[272] = 0.0; - out_3135048301285292021[273] = 0.0; - out_3135048301285292021[274] = 0.0; - out_3135048301285292021[275] = 0.0; - out_3135048301285292021[276] = 0.0; - out_3135048301285292021[277] = 0.0; - out_3135048301285292021[278] = 0.0; - out_3135048301285292021[279] = 0.0; - out_3135048301285292021[280] = 0.0; - out_3135048301285292021[281] = 0.0; - out_3135048301285292021[282] = 0.0; - out_3135048301285292021[283] = 0.0; - out_3135048301285292021[284] = 0.0; - out_3135048301285292021[285] = 1.0; - out_3135048301285292021[286] = 0.0; - out_3135048301285292021[287] = 0.0; - out_3135048301285292021[288] = 0.0; - out_3135048301285292021[289] = 0.0; - out_3135048301285292021[290] = 0.0; - out_3135048301285292021[291] = 0.0; - out_3135048301285292021[292] = 0.0; - out_3135048301285292021[293] = 0.0; - out_3135048301285292021[294] = 0.0; - out_3135048301285292021[295] = 0.0; - out_3135048301285292021[296] = 0.0; - out_3135048301285292021[297] = 0.0; - out_3135048301285292021[298] = 0.0; - out_3135048301285292021[299] = 0.0; - out_3135048301285292021[300] = 0.0; - out_3135048301285292021[301] = 0.0; - out_3135048301285292021[302] = 0.0; - out_3135048301285292021[303] = 0.0; - out_3135048301285292021[304] = 1.0; - out_3135048301285292021[305] = 0.0; - out_3135048301285292021[306] = 0.0; - out_3135048301285292021[307] = 0.0; - out_3135048301285292021[308] = 0.0; - out_3135048301285292021[309] = 0.0; - out_3135048301285292021[310] = 0.0; - out_3135048301285292021[311] = 0.0; - out_3135048301285292021[312] = 0.0; - out_3135048301285292021[313] = 0.0; - out_3135048301285292021[314] = 0.0; - out_3135048301285292021[315] = 0.0; - out_3135048301285292021[316] = 0.0; - out_3135048301285292021[317] = 0.0; - out_3135048301285292021[318] = 0.0; - out_3135048301285292021[319] = 0.0; - out_3135048301285292021[320] = 0.0; - out_3135048301285292021[321] = 0.0; - out_3135048301285292021[322] = 0.0; - out_3135048301285292021[323] = 1.0; +void H_mod_fun(double *state, double *out_6807142630278803635) { + out_6807142630278803635[0] = 1.0; + out_6807142630278803635[1] = 0.0; + out_6807142630278803635[2] = 0.0; + out_6807142630278803635[3] = 0.0; + out_6807142630278803635[4] = 0.0; + out_6807142630278803635[5] = 0.0; + out_6807142630278803635[6] = 0.0; + out_6807142630278803635[7] = 0.0; + out_6807142630278803635[8] = 0.0; + out_6807142630278803635[9] = 0.0; + out_6807142630278803635[10] = 0.0; + out_6807142630278803635[11] = 0.0; + out_6807142630278803635[12] = 0.0; + out_6807142630278803635[13] = 0.0; + out_6807142630278803635[14] = 0.0; + out_6807142630278803635[15] = 0.0; + out_6807142630278803635[16] = 0.0; + out_6807142630278803635[17] = 0.0; + out_6807142630278803635[18] = 0.0; + out_6807142630278803635[19] = 1.0; + out_6807142630278803635[20] = 0.0; + out_6807142630278803635[21] = 0.0; + out_6807142630278803635[22] = 0.0; + out_6807142630278803635[23] = 0.0; + out_6807142630278803635[24] = 0.0; + out_6807142630278803635[25] = 0.0; + out_6807142630278803635[26] = 0.0; + out_6807142630278803635[27] = 0.0; + out_6807142630278803635[28] = 0.0; + out_6807142630278803635[29] = 0.0; + out_6807142630278803635[30] = 0.0; + out_6807142630278803635[31] = 0.0; + out_6807142630278803635[32] = 0.0; + out_6807142630278803635[33] = 0.0; + out_6807142630278803635[34] = 0.0; + out_6807142630278803635[35] = 0.0; + out_6807142630278803635[36] = 0.0; + out_6807142630278803635[37] = 0.0; + out_6807142630278803635[38] = 1.0; + out_6807142630278803635[39] = 0.0; + out_6807142630278803635[40] = 0.0; + out_6807142630278803635[41] = 0.0; + out_6807142630278803635[42] = 0.0; + out_6807142630278803635[43] = 0.0; + out_6807142630278803635[44] = 0.0; + out_6807142630278803635[45] = 0.0; + out_6807142630278803635[46] = 0.0; + out_6807142630278803635[47] = 0.0; + out_6807142630278803635[48] = 0.0; + out_6807142630278803635[49] = 0.0; + out_6807142630278803635[50] = 0.0; + out_6807142630278803635[51] = 0.0; + out_6807142630278803635[52] = 0.0; + out_6807142630278803635[53] = 0.0; + out_6807142630278803635[54] = 0.0; + out_6807142630278803635[55] = 0.0; + out_6807142630278803635[56] = 0.0; + out_6807142630278803635[57] = 1.0; + out_6807142630278803635[58] = 0.0; + out_6807142630278803635[59] = 0.0; + out_6807142630278803635[60] = 0.0; + out_6807142630278803635[61] = 0.0; + out_6807142630278803635[62] = 0.0; + out_6807142630278803635[63] = 0.0; + out_6807142630278803635[64] = 0.0; + out_6807142630278803635[65] = 0.0; + out_6807142630278803635[66] = 0.0; + out_6807142630278803635[67] = 0.0; + out_6807142630278803635[68] = 0.0; + out_6807142630278803635[69] = 0.0; + out_6807142630278803635[70] = 0.0; + out_6807142630278803635[71] = 0.0; + out_6807142630278803635[72] = 0.0; + out_6807142630278803635[73] = 0.0; + out_6807142630278803635[74] = 0.0; + out_6807142630278803635[75] = 0.0; + out_6807142630278803635[76] = 1.0; + out_6807142630278803635[77] = 0.0; + out_6807142630278803635[78] = 0.0; + out_6807142630278803635[79] = 0.0; + out_6807142630278803635[80] = 0.0; + out_6807142630278803635[81] = 0.0; + out_6807142630278803635[82] = 0.0; + out_6807142630278803635[83] = 0.0; + out_6807142630278803635[84] = 0.0; + out_6807142630278803635[85] = 0.0; + out_6807142630278803635[86] = 0.0; + out_6807142630278803635[87] = 0.0; + out_6807142630278803635[88] = 0.0; + out_6807142630278803635[89] = 0.0; + out_6807142630278803635[90] = 0.0; + out_6807142630278803635[91] = 0.0; + out_6807142630278803635[92] = 0.0; + out_6807142630278803635[93] = 0.0; + out_6807142630278803635[94] = 0.0; + out_6807142630278803635[95] = 1.0; + out_6807142630278803635[96] = 0.0; + out_6807142630278803635[97] = 0.0; + out_6807142630278803635[98] = 0.0; + out_6807142630278803635[99] = 0.0; + out_6807142630278803635[100] = 0.0; + out_6807142630278803635[101] = 0.0; + out_6807142630278803635[102] = 0.0; + out_6807142630278803635[103] = 0.0; + out_6807142630278803635[104] = 0.0; + out_6807142630278803635[105] = 0.0; + out_6807142630278803635[106] = 0.0; + out_6807142630278803635[107] = 0.0; + out_6807142630278803635[108] = 0.0; + out_6807142630278803635[109] = 0.0; + out_6807142630278803635[110] = 0.0; + out_6807142630278803635[111] = 0.0; + out_6807142630278803635[112] = 0.0; + out_6807142630278803635[113] = 0.0; + out_6807142630278803635[114] = 1.0; + out_6807142630278803635[115] = 0.0; + out_6807142630278803635[116] = 0.0; + out_6807142630278803635[117] = 0.0; + out_6807142630278803635[118] = 0.0; + out_6807142630278803635[119] = 0.0; + out_6807142630278803635[120] = 0.0; + out_6807142630278803635[121] = 0.0; + out_6807142630278803635[122] = 0.0; + out_6807142630278803635[123] = 0.0; + out_6807142630278803635[124] = 0.0; + out_6807142630278803635[125] = 0.0; + out_6807142630278803635[126] = 0.0; + out_6807142630278803635[127] = 0.0; + out_6807142630278803635[128] = 0.0; + out_6807142630278803635[129] = 0.0; + out_6807142630278803635[130] = 0.0; + out_6807142630278803635[131] = 0.0; + out_6807142630278803635[132] = 0.0; + out_6807142630278803635[133] = 1.0; + out_6807142630278803635[134] = 0.0; + out_6807142630278803635[135] = 0.0; + out_6807142630278803635[136] = 0.0; + out_6807142630278803635[137] = 0.0; + out_6807142630278803635[138] = 0.0; + out_6807142630278803635[139] = 0.0; + out_6807142630278803635[140] = 0.0; + out_6807142630278803635[141] = 0.0; + out_6807142630278803635[142] = 0.0; + out_6807142630278803635[143] = 0.0; + out_6807142630278803635[144] = 0.0; + out_6807142630278803635[145] = 0.0; + out_6807142630278803635[146] = 0.0; + out_6807142630278803635[147] = 0.0; + out_6807142630278803635[148] = 0.0; + out_6807142630278803635[149] = 0.0; + out_6807142630278803635[150] = 0.0; + out_6807142630278803635[151] = 0.0; + out_6807142630278803635[152] = 1.0; + out_6807142630278803635[153] = 0.0; + out_6807142630278803635[154] = 0.0; + out_6807142630278803635[155] = 0.0; + out_6807142630278803635[156] = 0.0; + out_6807142630278803635[157] = 0.0; + out_6807142630278803635[158] = 0.0; + out_6807142630278803635[159] = 0.0; + out_6807142630278803635[160] = 0.0; + out_6807142630278803635[161] = 0.0; + out_6807142630278803635[162] = 0.0; + out_6807142630278803635[163] = 0.0; + out_6807142630278803635[164] = 0.0; + out_6807142630278803635[165] = 0.0; + out_6807142630278803635[166] = 0.0; + out_6807142630278803635[167] = 0.0; + out_6807142630278803635[168] = 0.0; + out_6807142630278803635[169] = 0.0; + out_6807142630278803635[170] = 0.0; + out_6807142630278803635[171] = 1.0; + out_6807142630278803635[172] = 0.0; + out_6807142630278803635[173] = 0.0; + out_6807142630278803635[174] = 0.0; + out_6807142630278803635[175] = 0.0; + out_6807142630278803635[176] = 0.0; + out_6807142630278803635[177] = 0.0; + out_6807142630278803635[178] = 0.0; + out_6807142630278803635[179] = 0.0; + out_6807142630278803635[180] = 0.0; + out_6807142630278803635[181] = 0.0; + out_6807142630278803635[182] = 0.0; + out_6807142630278803635[183] = 0.0; + out_6807142630278803635[184] = 0.0; + out_6807142630278803635[185] = 0.0; + out_6807142630278803635[186] = 0.0; + out_6807142630278803635[187] = 0.0; + out_6807142630278803635[188] = 0.0; + out_6807142630278803635[189] = 0.0; + out_6807142630278803635[190] = 1.0; + out_6807142630278803635[191] = 0.0; + out_6807142630278803635[192] = 0.0; + out_6807142630278803635[193] = 0.0; + out_6807142630278803635[194] = 0.0; + out_6807142630278803635[195] = 0.0; + out_6807142630278803635[196] = 0.0; + out_6807142630278803635[197] = 0.0; + out_6807142630278803635[198] = 0.0; + out_6807142630278803635[199] = 0.0; + out_6807142630278803635[200] = 0.0; + out_6807142630278803635[201] = 0.0; + out_6807142630278803635[202] = 0.0; + out_6807142630278803635[203] = 0.0; + out_6807142630278803635[204] = 0.0; + out_6807142630278803635[205] = 0.0; + out_6807142630278803635[206] = 0.0; + out_6807142630278803635[207] = 0.0; + out_6807142630278803635[208] = 0.0; + out_6807142630278803635[209] = 1.0; + out_6807142630278803635[210] = 0.0; + out_6807142630278803635[211] = 0.0; + out_6807142630278803635[212] = 0.0; + out_6807142630278803635[213] = 0.0; + out_6807142630278803635[214] = 0.0; + out_6807142630278803635[215] = 0.0; + out_6807142630278803635[216] = 0.0; + out_6807142630278803635[217] = 0.0; + out_6807142630278803635[218] = 0.0; + out_6807142630278803635[219] = 0.0; + out_6807142630278803635[220] = 0.0; + out_6807142630278803635[221] = 0.0; + out_6807142630278803635[222] = 0.0; + out_6807142630278803635[223] = 0.0; + out_6807142630278803635[224] = 0.0; + out_6807142630278803635[225] = 0.0; + out_6807142630278803635[226] = 0.0; + out_6807142630278803635[227] = 0.0; + out_6807142630278803635[228] = 1.0; + out_6807142630278803635[229] = 0.0; + out_6807142630278803635[230] = 0.0; + out_6807142630278803635[231] = 0.0; + out_6807142630278803635[232] = 0.0; + out_6807142630278803635[233] = 0.0; + out_6807142630278803635[234] = 0.0; + out_6807142630278803635[235] = 0.0; + out_6807142630278803635[236] = 0.0; + out_6807142630278803635[237] = 0.0; + out_6807142630278803635[238] = 0.0; + out_6807142630278803635[239] = 0.0; + out_6807142630278803635[240] = 0.0; + out_6807142630278803635[241] = 0.0; + out_6807142630278803635[242] = 0.0; + out_6807142630278803635[243] = 0.0; + out_6807142630278803635[244] = 0.0; + out_6807142630278803635[245] = 0.0; + out_6807142630278803635[246] = 0.0; + out_6807142630278803635[247] = 1.0; + out_6807142630278803635[248] = 0.0; + out_6807142630278803635[249] = 0.0; + out_6807142630278803635[250] = 0.0; + out_6807142630278803635[251] = 0.0; + out_6807142630278803635[252] = 0.0; + out_6807142630278803635[253] = 0.0; + out_6807142630278803635[254] = 0.0; + out_6807142630278803635[255] = 0.0; + out_6807142630278803635[256] = 0.0; + out_6807142630278803635[257] = 0.0; + out_6807142630278803635[258] = 0.0; + out_6807142630278803635[259] = 0.0; + out_6807142630278803635[260] = 0.0; + out_6807142630278803635[261] = 0.0; + out_6807142630278803635[262] = 0.0; + out_6807142630278803635[263] = 0.0; + out_6807142630278803635[264] = 0.0; + out_6807142630278803635[265] = 0.0; + out_6807142630278803635[266] = 1.0; + out_6807142630278803635[267] = 0.0; + out_6807142630278803635[268] = 0.0; + out_6807142630278803635[269] = 0.0; + out_6807142630278803635[270] = 0.0; + out_6807142630278803635[271] = 0.0; + out_6807142630278803635[272] = 0.0; + out_6807142630278803635[273] = 0.0; + out_6807142630278803635[274] = 0.0; + out_6807142630278803635[275] = 0.0; + out_6807142630278803635[276] = 0.0; + out_6807142630278803635[277] = 0.0; + out_6807142630278803635[278] = 0.0; + out_6807142630278803635[279] = 0.0; + out_6807142630278803635[280] = 0.0; + out_6807142630278803635[281] = 0.0; + out_6807142630278803635[282] = 0.0; + out_6807142630278803635[283] = 0.0; + out_6807142630278803635[284] = 0.0; + out_6807142630278803635[285] = 1.0; + out_6807142630278803635[286] = 0.0; + out_6807142630278803635[287] = 0.0; + out_6807142630278803635[288] = 0.0; + out_6807142630278803635[289] = 0.0; + out_6807142630278803635[290] = 0.0; + out_6807142630278803635[291] = 0.0; + out_6807142630278803635[292] = 0.0; + out_6807142630278803635[293] = 0.0; + out_6807142630278803635[294] = 0.0; + out_6807142630278803635[295] = 0.0; + out_6807142630278803635[296] = 0.0; + out_6807142630278803635[297] = 0.0; + out_6807142630278803635[298] = 0.0; + out_6807142630278803635[299] = 0.0; + out_6807142630278803635[300] = 0.0; + out_6807142630278803635[301] = 0.0; + out_6807142630278803635[302] = 0.0; + out_6807142630278803635[303] = 0.0; + out_6807142630278803635[304] = 1.0; + out_6807142630278803635[305] = 0.0; + out_6807142630278803635[306] = 0.0; + out_6807142630278803635[307] = 0.0; + out_6807142630278803635[308] = 0.0; + out_6807142630278803635[309] = 0.0; + out_6807142630278803635[310] = 0.0; + out_6807142630278803635[311] = 0.0; + out_6807142630278803635[312] = 0.0; + out_6807142630278803635[313] = 0.0; + out_6807142630278803635[314] = 0.0; + out_6807142630278803635[315] = 0.0; + out_6807142630278803635[316] = 0.0; + out_6807142630278803635[317] = 0.0; + out_6807142630278803635[318] = 0.0; + out_6807142630278803635[319] = 0.0; + out_6807142630278803635[320] = 0.0; + out_6807142630278803635[321] = 0.0; + out_6807142630278803635[322] = 0.0; + out_6807142630278803635[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8178969782644284561) { - out_8178969782644284561[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_8178969782644284561[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_8178969782644284561[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_8178969782644284561[3] = dt*state[12] + state[3]; - out_8178969782644284561[4] = dt*state[13] + state[4]; - out_8178969782644284561[5] = dt*state[14] + state[5]; - out_8178969782644284561[6] = state[6]; - out_8178969782644284561[7] = state[7]; - out_8178969782644284561[8] = state[8]; - out_8178969782644284561[9] = state[9]; - out_8178969782644284561[10] = state[10]; - out_8178969782644284561[11] = state[11]; - out_8178969782644284561[12] = state[12]; - out_8178969782644284561[13] = state[13]; - out_8178969782644284561[14] = state[14]; - out_8178969782644284561[15] = state[15]; - out_8178969782644284561[16] = state[16]; - out_8178969782644284561[17] = state[17]; +void f_fun(double *state, double dt, double *out_6438279809192142379) { + out_6438279809192142379[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_6438279809192142379[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_6438279809192142379[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_6438279809192142379[3] = dt*state[12] + state[3]; + out_6438279809192142379[4] = dt*state[13] + state[4]; + out_6438279809192142379[5] = dt*state[14] + state[5]; + out_6438279809192142379[6] = state[6]; + out_6438279809192142379[7] = state[7]; + out_6438279809192142379[8] = state[8]; + out_6438279809192142379[9] = state[9]; + out_6438279809192142379[10] = state[10]; + out_6438279809192142379[11] = state[11]; + out_6438279809192142379[12] = state[12]; + out_6438279809192142379[13] = state[13]; + out_6438279809192142379[14] = state[14]; + out_6438279809192142379[15] = state[15]; + out_6438279809192142379[16] = state[16]; + out_6438279809192142379[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7659025943100145673) { - out_7659025943100145673[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_7659025943100145673[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_7659025943100145673[2] = 0; - out_7659025943100145673[3] = 0; - out_7659025943100145673[4] = 0; - out_7659025943100145673[5] = 0; - out_7659025943100145673[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_7659025943100145673[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_7659025943100145673[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_7659025943100145673[9] = 0; - out_7659025943100145673[10] = 0; - out_7659025943100145673[11] = 0; - out_7659025943100145673[12] = 0; - out_7659025943100145673[13] = 0; - out_7659025943100145673[14] = 0; - out_7659025943100145673[15] = 0; - out_7659025943100145673[16] = 0; - out_7659025943100145673[17] = 0; - out_7659025943100145673[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_7659025943100145673[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_7659025943100145673[20] = 0; - out_7659025943100145673[21] = 0; - out_7659025943100145673[22] = 0; - out_7659025943100145673[23] = 0; - out_7659025943100145673[24] = 0; - out_7659025943100145673[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_7659025943100145673[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_7659025943100145673[27] = 0; - out_7659025943100145673[28] = 0; - out_7659025943100145673[29] = 0; - out_7659025943100145673[30] = 0; - out_7659025943100145673[31] = 0; - out_7659025943100145673[32] = 0; - out_7659025943100145673[33] = 0; - out_7659025943100145673[34] = 0; - out_7659025943100145673[35] = 0; - out_7659025943100145673[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_7659025943100145673[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_7659025943100145673[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_7659025943100145673[39] = 0; - out_7659025943100145673[40] = 0; - out_7659025943100145673[41] = 0; - out_7659025943100145673[42] = 0; - out_7659025943100145673[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_7659025943100145673[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_7659025943100145673[45] = 0; - out_7659025943100145673[46] = 0; - out_7659025943100145673[47] = 0; - out_7659025943100145673[48] = 0; - out_7659025943100145673[49] = 0; - out_7659025943100145673[50] = 0; - out_7659025943100145673[51] = 0; - out_7659025943100145673[52] = 0; - out_7659025943100145673[53] = 0; - out_7659025943100145673[54] = 0; - out_7659025943100145673[55] = 0; - out_7659025943100145673[56] = 0; - out_7659025943100145673[57] = 1; - out_7659025943100145673[58] = 0; - out_7659025943100145673[59] = 0; - out_7659025943100145673[60] = 0; - out_7659025943100145673[61] = 0; - out_7659025943100145673[62] = 0; - out_7659025943100145673[63] = 0; - out_7659025943100145673[64] = 0; - out_7659025943100145673[65] = 0; - out_7659025943100145673[66] = dt; - out_7659025943100145673[67] = 0; - out_7659025943100145673[68] = 0; - out_7659025943100145673[69] = 0; - out_7659025943100145673[70] = 0; - out_7659025943100145673[71] = 0; - out_7659025943100145673[72] = 0; - out_7659025943100145673[73] = 0; - out_7659025943100145673[74] = 0; - out_7659025943100145673[75] = 0; - out_7659025943100145673[76] = 1; - out_7659025943100145673[77] = 0; - out_7659025943100145673[78] = 0; - out_7659025943100145673[79] = 0; - out_7659025943100145673[80] = 0; - out_7659025943100145673[81] = 0; - out_7659025943100145673[82] = 0; - out_7659025943100145673[83] = 0; - out_7659025943100145673[84] = 0; - out_7659025943100145673[85] = dt; - out_7659025943100145673[86] = 0; - out_7659025943100145673[87] = 0; - out_7659025943100145673[88] = 0; - out_7659025943100145673[89] = 0; - out_7659025943100145673[90] = 0; - out_7659025943100145673[91] = 0; - out_7659025943100145673[92] = 0; - out_7659025943100145673[93] = 0; - out_7659025943100145673[94] = 0; - out_7659025943100145673[95] = 1; - out_7659025943100145673[96] = 0; - out_7659025943100145673[97] = 0; - out_7659025943100145673[98] = 0; - out_7659025943100145673[99] = 0; - out_7659025943100145673[100] = 0; - out_7659025943100145673[101] = 0; - out_7659025943100145673[102] = 0; - out_7659025943100145673[103] = 0; - out_7659025943100145673[104] = dt; - out_7659025943100145673[105] = 0; - out_7659025943100145673[106] = 0; - out_7659025943100145673[107] = 0; - out_7659025943100145673[108] = 0; - out_7659025943100145673[109] = 0; - out_7659025943100145673[110] = 0; - out_7659025943100145673[111] = 0; - out_7659025943100145673[112] = 0; - out_7659025943100145673[113] = 0; - out_7659025943100145673[114] = 1; - out_7659025943100145673[115] = 0; - out_7659025943100145673[116] = 0; - out_7659025943100145673[117] = 0; - out_7659025943100145673[118] = 0; - out_7659025943100145673[119] = 0; - out_7659025943100145673[120] = 0; - out_7659025943100145673[121] = 0; - out_7659025943100145673[122] = 0; - out_7659025943100145673[123] = 0; - out_7659025943100145673[124] = 0; - out_7659025943100145673[125] = 0; - out_7659025943100145673[126] = 0; - out_7659025943100145673[127] = 0; - out_7659025943100145673[128] = 0; - out_7659025943100145673[129] = 0; - out_7659025943100145673[130] = 0; - out_7659025943100145673[131] = 0; - out_7659025943100145673[132] = 0; - out_7659025943100145673[133] = 1; - out_7659025943100145673[134] = 0; - out_7659025943100145673[135] = 0; - out_7659025943100145673[136] = 0; - out_7659025943100145673[137] = 0; - out_7659025943100145673[138] = 0; - out_7659025943100145673[139] = 0; - out_7659025943100145673[140] = 0; - out_7659025943100145673[141] = 0; - out_7659025943100145673[142] = 0; - out_7659025943100145673[143] = 0; - out_7659025943100145673[144] = 0; - out_7659025943100145673[145] = 0; - out_7659025943100145673[146] = 0; - out_7659025943100145673[147] = 0; - out_7659025943100145673[148] = 0; - out_7659025943100145673[149] = 0; - out_7659025943100145673[150] = 0; - out_7659025943100145673[151] = 0; - out_7659025943100145673[152] = 1; - out_7659025943100145673[153] = 0; - out_7659025943100145673[154] = 0; - out_7659025943100145673[155] = 0; - out_7659025943100145673[156] = 0; - out_7659025943100145673[157] = 0; - out_7659025943100145673[158] = 0; - out_7659025943100145673[159] = 0; - out_7659025943100145673[160] = 0; - out_7659025943100145673[161] = 0; - out_7659025943100145673[162] = 0; - out_7659025943100145673[163] = 0; - out_7659025943100145673[164] = 0; - out_7659025943100145673[165] = 0; - out_7659025943100145673[166] = 0; - out_7659025943100145673[167] = 0; - out_7659025943100145673[168] = 0; - out_7659025943100145673[169] = 0; - out_7659025943100145673[170] = 0; - out_7659025943100145673[171] = 1; - out_7659025943100145673[172] = 0; - out_7659025943100145673[173] = 0; - out_7659025943100145673[174] = 0; - out_7659025943100145673[175] = 0; - out_7659025943100145673[176] = 0; - out_7659025943100145673[177] = 0; - out_7659025943100145673[178] = 0; - out_7659025943100145673[179] = 0; - out_7659025943100145673[180] = 0; - out_7659025943100145673[181] = 0; - out_7659025943100145673[182] = 0; - out_7659025943100145673[183] = 0; - out_7659025943100145673[184] = 0; - out_7659025943100145673[185] = 0; - out_7659025943100145673[186] = 0; - out_7659025943100145673[187] = 0; - out_7659025943100145673[188] = 0; - out_7659025943100145673[189] = 0; - out_7659025943100145673[190] = 1; - out_7659025943100145673[191] = 0; - out_7659025943100145673[192] = 0; - out_7659025943100145673[193] = 0; - out_7659025943100145673[194] = 0; - out_7659025943100145673[195] = 0; - out_7659025943100145673[196] = 0; - out_7659025943100145673[197] = 0; - out_7659025943100145673[198] = 0; - out_7659025943100145673[199] = 0; - out_7659025943100145673[200] = 0; - out_7659025943100145673[201] = 0; - out_7659025943100145673[202] = 0; - out_7659025943100145673[203] = 0; - out_7659025943100145673[204] = 0; - out_7659025943100145673[205] = 0; - out_7659025943100145673[206] = 0; - out_7659025943100145673[207] = 0; - out_7659025943100145673[208] = 0; - out_7659025943100145673[209] = 1; - out_7659025943100145673[210] = 0; - out_7659025943100145673[211] = 0; - out_7659025943100145673[212] = 0; - out_7659025943100145673[213] = 0; - out_7659025943100145673[214] = 0; - out_7659025943100145673[215] = 0; - out_7659025943100145673[216] = 0; - out_7659025943100145673[217] = 0; - out_7659025943100145673[218] = 0; - out_7659025943100145673[219] = 0; - out_7659025943100145673[220] = 0; - out_7659025943100145673[221] = 0; - out_7659025943100145673[222] = 0; - out_7659025943100145673[223] = 0; - out_7659025943100145673[224] = 0; - out_7659025943100145673[225] = 0; - out_7659025943100145673[226] = 0; - out_7659025943100145673[227] = 0; - out_7659025943100145673[228] = 1; - out_7659025943100145673[229] = 0; - out_7659025943100145673[230] = 0; - out_7659025943100145673[231] = 0; - out_7659025943100145673[232] = 0; - out_7659025943100145673[233] = 0; - out_7659025943100145673[234] = 0; - out_7659025943100145673[235] = 0; - out_7659025943100145673[236] = 0; - out_7659025943100145673[237] = 0; - out_7659025943100145673[238] = 0; - out_7659025943100145673[239] = 0; - out_7659025943100145673[240] = 0; - out_7659025943100145673[241] = 0; - out_7659025943100145673[242] = 0; - out_7659025943100145673[243] = 0; - out_7659025943100145673[244] = 0; - out_7659025943100145673[245] = 0; - out_7659025943100145673[246] = 0; - out_7659025943100145673[247] = 1; - out_7659025943100145673[248] = 0; - out_7659025943100145673[249] = 0; - out_7659025943100145673[250] = 0; - out_7659025943100145673[251] = 0; - out_7659025943100145673[252] = 0; - out_7659025943100145673[253] = 0; - out_7659025943100145673[254] = 0; - out_7659025943100145673[255] = 0; - out_7659025943100145673[256] = 0; - out_7659025943100145673[257] = 0; - out_7659025943100145673[258] = 0; - out_7659025943100145673[259] = 0; - out_7659025943100145673[260] = 0; - out_7659025943100145673[261] = 0; - out_7659025943100145673[262] = 0; - out_7659025943100145673[263] = 0; - out_7659025943100145673[264] = 0; - out_7659025943100145673[265] = 0; - out_7659025943100145673[266] = 1; - out_7659025943100145673[267] = 0; - out_7659025943100145673[268] = 0; - out_7659025943100145673[269] = 0; - out_7659025943100145673[270] = 0; - out_7659025943100145673[271] = 0; - out_7659025943100145673[272] = 0; - out_7659025943100145673[273] = 0; - out_7659025943100145673[274] = 0; - out_7659025943100145673[275] = 0; - out_7659025943100145673[276] = 0; - out_7659025943100145673[277] = 0; - out_7659025943100145673[278] = 0; - out_7659025943100145673[279] = 0; - out_7659025943100145673[280] = 0; - out_7659025943100145673[281] = 0; - out_7659025943100145673[282] = 0; - out_7659025943100145673[283] = 0; - out_7659025943100145673[284] = 0; - out_7659025943100145673[285] = 1; - out_7659025943100145673[286] = 0; - out_7659025943100145673[287] = 0; - out_7659025943100145673[288] = 0; - out_7659025943100145673[289] = 0; - out_7659025943100145673[290] = 0; - out_7659025943100145673[291] = 0; - out_7659025943100145673[292] = 0; - out_7659025943100145673[293] = 0; - out_7659025943100145673[294] = 0; - out_7659025943100145673[295] = 0; - out_7659025943100145673[296] = 0; - out_7659025943100145673[297] = 0; - out_7659025943100145673[298] = 0; - out_7659025943100145673[299] = 0; - out_7659025943100145673[300] = 0; - out_7659025943100145673[301] = 0; - out_7659025943100145673[302] = 0; - out_7659025943100145673[303] = 0; - out_7659025943100145673[304] = 1; - out_7659025943100145673[305] = 0; - out_7659025943100145673[306] = 0; - out_7659025943100145673[307] = 0; - out_7659025943100145673[308] = 0; - out_7659025943100145673[309] = 0; - out_7659025943100145673[310] = 0; - out_7659025943100145673[311] = 0; - out_7659025943100145673[312] = 0; - out_7659025943100145673[313] = 0; - out_7659025943100145673[314] = 0; - out_7659025943100145673[315] = 0; - out_7659025943100145673[316] = 0; - out_7659025943100145673[317] = 0; - out_7659025943100145673[318] = 0; - out_7659025943100145673[319] = 0; - out_7659025943100145673[320] = 0; - out_7659025943100145673[321] = 0; - out_7659025943100145673[322] = 0; - out_7659025943100145673[323] = 1; +void F_fun(double *state, double dt, double *out_8719681830852947447) { + out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[2] = 0; + out_8719681830852947447[3] = 0; + out_8719681830852947447[4] = 0; + out_8719681830852947447[5] = 0; + out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[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_8719681830852947447[9] = 0; + out_8719681830852947447[10] = 0; + out_8719681830852947447[11] = 0; + out_8719681830852947447[12] = 0; + out_8719681830852947447[13] = 0; + out_8719681830852947447[14] = 0; + out_8719681830852947447[15] = 0; + out_8719681830852947447[16] = 0; + out_8719681830852947447[17] = 0; + out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[20] = 0; + out_8719681830852947447[21] = 0; + out_8719681830852947447[22] = 0; + out_8719681830852947447[23] = 0; + out_8719681830852947447[24] = 0; + out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[27] = 0; + out_8719681830852947447[28] = 0; + out_8719681830852947447[29] = 0; + out_8719681830852947447[30] = 0; + out_8719681830852947447[31] = 0; + out_8719681830852947447[32] = 0; + out_8719681830852947447[33] = 0; + out_8719681830852947447[34] = 0; + out_8719681830852947447[35] = 0; + out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[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_8719681830852947447[39] = 0; + out_8719681830852947447[40] = 0; + out_8719681830852947447[41] = 0; + out_8719681830852947447[42] = 0; + out_8719681830852947447[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_8719681830852947447[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_8719681830852947447[45] = 0; + out_8719681830852947447[46] = 0; + out_8719681830852947447[47] = 0; + out_8719681830852947447[48] = 0; + out_8719681830852947447[49] = 0; + out_8719681830852947447[50] = 0; + out_8719681830852947447[51] = 0; + out_8719681830852947447[52] = 0; + out_8719681830852947447[53] = 0; + out_8719681830852947447[54] = 0; + out_8719681830852947447[55] = 0; + out_8719681830852947447[56] = 0; + out_8719681830852947447[57] = 1; + out_8719681830852947447[58] = 0; + out_8719681830852947447[59] = 0; + out_8719681830852947447[60] = 0; + out_8719681830852947447[61] = 0; + out_8719681830852947447[62] = 0; + out_8719681830852947447[63] = 0; + out_8719681830852947447[64] = 0; + out_8719681830852947447[65] = 0; + out_8719681830852947447[66] = dt; + out_8719681830852947447[67] = 0; + out_8719681830852947447[68] = 0; + out_8719681830852947447[69] = 0; + out_8719681830852947447[70] = 0; + out_8719681830852947447[71] = 0; + out_8719681830852947447[72] = 0; + out_8719681830852947447[73] = 0; + out_8719681830852947447[74] = 0; + out_8719681830852947447[75] = 0; + out_8719681830852947447[76] = 1; + out_8719681830852947447[77] = 0; + out_8719681830852947447[78] = 0; + out_8719681830852947447[79] = 0; + out_8719681830852947447[80] = 0; + out_8719681830852947447[81] = 0; + out_8719681830852947447[82] = 0; + out_8719681830852947447[83] = 0; + out_8719681830852947447[84] = 0; + out_8719681830852947447[85] = dt; + out_8719681830852947447[86] = 0; + out_8719681830852947447[87] = 0; + out_8719681830852947447[88] = 0; + out_8719681830852947447[89] = 0; + out_8719681830852947447[90] = 0; + out_8719681830852947447[91] = 0; + out_8719681830852947447[92] = 0; + out_8719681830852947447[93] = 0; + out_8719681830852947447[94] = 0; + out_8719681830852947447[95] = 1; + out_8719681830852947447[96] = 0; + out_8719681830852947447[97] = 0; + out_8719681830852947447[98] = 0; + out_8719681830852947447[99] = 0; + out_8719681830852947447[100] = 0; + out_8719681830852947447[101] = 0; + out_8719681830852947447[102] = 0; + out_8719681830852947447[103] = 0; + out_8719681830852947447[104] = dt; + out_8719681830852947447[105] = 0; + out_8719681830852947447[106] = 0; + out_8719681830852947447[107] = 0; + out_8719681830852947447[108] = 0; + out_8719681830852947447[109] = 0; + out_8719681830852947447[110] = 0; + out_8719681830852947447[111] = 0; + out_8719681830852947447[112] = 0; + out_8719681830852947447[113] = 0; + out_8719681830852947447[114] = 1; + out_8719681830852947447[115] = 0; + out_8719681830852947447[116] = 0; + out_8719681830852947447[117] = 0; + out_8719681830852947447[118] = 0; + out_8719681830852947447[119] = 0; + out_8719681830852947447[120] = 0; + out_8719681830852947447[121] = 0; + out_8719681830852947447[122] = 0; + out_8719681830852947447[123] = 0; + out_8719681830852947447[124] = 0; + out_8719681830852947447[125] = 0; + out_8719681830852947447[126] = 0; + out_8719681830852947447[127] = 0; + out_8719681830852947447[128] = 0; + out_8719681830852947447[129] = 0; + out_8719681830852947447[130] = 0; + out_8719681830852947447[131] = 0; + out_8719681830852947447[132] = 0; + out_8719681830852947447[133] = 1; + out_8719681830852947447[134] = 0; + out_8719681830852947447[135] = 0; + out_8719681830852947447[136] = 0; + out_8719681830852947447[137] = 0; + out_8719681830852947447[138] = 0; + out_8719681830852947447[139] = 0; + out_8719681830852947447[140] = 0; + out_8719681830852947447[141] = 0; + out_8719681830852947447[142] = 0; + out_8719681830852947447[143] = 0; + out_8719681830852947447[144] = 0; + out_8719681830852947447[145] = 0; + out_8719681830852947447[146] = 0; + out_8719681830852947447[147] = 0; + out_8719681830852947447[148] = 0; + out_8719681830852947447[149] = 0; + out_8719681830852947447[150] = 0; + out_8719681830852947447[151] = 0; + out_8719681830852947447[152] = 1; + out_8719681830852947447[153] = 0; + out_8719681830852947447[154] = 0; + out_8719681830852947447[155] = 0; + out_8719681830852947447[156] = 0; + out_8719681830852947447[157] = 0; + out_8719681830852947447[158] = 0; + out_8719681830852947447[159] = 0; + out_8719681830852947447[160] = 0; + out_8719681830852947447[161] = 0; + out_8719681830852947447[162] = 0; + out_8719681830852947447[163] = 0; + out_8719681830852947447[164] = 0; + out_8719681830852947447[165] = 0; + out_8719681830852947447[166] = 0; + out_8719681830852947447[167] = 0; + out_8719681830852947447[168] = 0; + out_8719681830852947447[169] = 0; + out_8719681830852947447[170] = 0; + out_8719681830852947447[171] = 1; + out_8719681830852947447[172] = 0; + out_8719681830852947447[173] = 0; + out_8719681830852947447[174] = 0; + out_8719681830852947447[175] = 0; + out_8719681830852947447[176] = 0; + out_8719681830852947447[177] = 0; + out_8719681830852947447[178] = 0; + out_8719681830852947447[179] = 0; + out_8719681830852947447[180] = 0; + out_8719681830852947447[181] = 0; + out_8719681830852947447[182] = 0; + out_8719681830852947447[183] = 0; + out_8719681830852947447[184] = 0; + out_8719681830852947447[185] = 0; + out_8719681830852947447[186] = 0; + out_8719681830852947447[187] = 0; + out_8719681830852947447[188] = 0; + out_8719681830852947447[189] = 0; + out_8719681830852947447[190] = 1; + out_8719681830852947447[191] = 0; + out_8719681830852947447[192] = 0; + out_8719681830852947447[193] = 0; + out_8719681830852947447[194] = 0; + out_8719681830852947447[195] = 0; + out_8719681830852947447[196] = 0; + out_8719681830852947447[197] = 0; + out_8719681830852947447[198] = 0; + out_8719681830852947447[199] = 0; + out_8719681830852947447[200] = 0; + out_8719681830852947447[201] = 0; + out_8719681830852947447[202] = 0; + out_8719681830852947447[203] = 0; + out_8719681830852947447[204] = 0; + out_8719681830852947447[205] = 0; + out_8719681830852947447[206] = 0; + out_8719681830852947447[207] = 0; + out_8719681830852947447[208] = 0; + out_8719681830852947447[209] = 1; + out_8719681830852947447[210] = 0; + out_8719681830852947447[211] = 0; + out_8719681830852947447[212] = 0; + out_8719681830852947447[213] = 0; + out_8719681830852947447[214] = 0; + out_8719681830852947447[215] = 0; + out_8719681830852947447[216] = 0; + out_8719681830852947447[217] = 0; + out_8719681830852947447[218] = 0; + out_8719681830852947447[219] = 0; + out_8719681830852947447[220] = 0; + out_8719681830852947447[221] = 0; + out_8719681830852947447[222] = 0; + out_8719681830852947447[223] = 0; + out_8719681830852947447[224] = 0; + out_8719681830852947447[225] = 0; + out_8719681830852947447[226] = 0; + out_8719681830852947447[227] = 0; + out_8719681830852947447[228] = 1; + out_8719681830852947447[229] = 0; + out_8719681830852947447[230] = 0; + out_8719681830852947447[231] = 0; + out_8719681830852947447[232] = 0; + out_8719681830852947447[233] = 0; + out_8719681830852947447[234] = 0; + out_8719681830852947447[235] = 0; + out_8719681830852947447[236] = 0; + out_8719681830852947447[237] = 0; + out_8719681830852947447[238] = 0; + out_8719681830852947447[239] = 0; + out_8719681830852947447[240] = 0; + out_8719681830852947447[241] = 0; + out_8719681830852947447[242] = 0; + out_8719681830852947447[243] = 0; + out_8719681830852947447[244] = 0; + out_8719681830852947447[245] = 0; + out_8719681830852947447[246] = 0; + out_8719681830852947447[247] = 1; + out_8719681830852947447[248] = 0; + out_8719681830852947447[249] = 0; + out_8719681830852947447[250] = 0; + out_8719681830852947447[251] = 0; + out_8719681830852947447[252] = 0; + out_8719681830852947447[253] = 0; + out_8719681830852947447[254] = 0; + out_8719681830852947447[255] = 0; + out_8719681830852947447[256] = 0; + out_8719681830852947447[257] = 0; + out_8719681830852947447[258] = 0; + out_8719681830852947447[259] = 0; + out_8719681830852947447[260] = 0; + out_8719681830852947447[261] = 0; + out_8719681830852947447[262] = 0; + out_8719681830852947447[263] = 0; + out_8719681830852947447[264] = 0; + out_8719681830852947447[265] = 0; + out_8719681830852947447[266] = 1; + out_8719681830852947447[267] = 0; + out_8719681830852947447[268] = 0; + out_8719681830852947447[269] = 0; + out_8719681830852947447[270] = 0; + out_8719681830852947447[271] = 0; + out_8719681830852947447[272] = 0; + out_8719681830852947447[273] = 0; + out_8719681830852947447[274] = 0; + out_8719681830852947447[275] = 0; + out_8719681830852947447[276] = 0; + out_8719681830852947447[277] = 0; + out_8719681830852947447[278] = 0; + out_8719681830852947447[279] = 0; + out_8719681830852947447[280] = 0; + out_8719681830852947447[281] = 0; + out_8719681830852947447[282] = 0; + out_8719681830852947447[283] = 0; + out_8719681830852947447[284] = 0; + out_8719681830852947447[285] = 1; + out_8719681830852947447[286] = 0; + out_8719681830852947447[287] = 0; + out_8719681830852947447[288] = 0; + out_8719681830852947447[289] = 0; + out_8719681830852947447[290] = 0; + out_8719681830852947447[291] = 0; + out_8719681830852947447[292] = 0; + out_8719681830852947447[293] = 0; + out_8719681830852947447[294] = 0; + out_8719681830852947447[295] = 0; + out_8719681830852947447[296] = 0; + out_8719681830852947447[297] = 0; + out_8719681830852947447[298] = 0; + out_8719681830852947447[299] = 0; + out_8719681830852947447[300] = 0; + out_8719681830852947447[301] = 0; + out_8719681830852947447[302] = 0; + out_8719681830852947447[303] = 0; + out_8719681830852947447[304] = 1; + out_8719681830852947447[305] = 0; + out_8719681830852947447[306] = 0; + out_8719681830852947447[307] = 0; + out_8719681830852947447[308] = 0; + out_8719681830852947447[309] = 0; + out_8719681830852947447[310] = 0; + out_8719681830852947447[311] = 0; + out_8719681830852947447[312] = 0; + out_8719681830852947447[313] = 0; + out_8719681830852947447[314] = 0; + out_8719681830852947447[315] = 0; + out_8719681830852947447[316] = 0; + out_8719681830852947447[317] = 0; + out_8719681830852947447[318] = 0; + out_8719681830852947447[319] = 0; + out_8719681830852947447[320] = 0; + out_8719681830852947447[321] = 0; + out_8719681830852947447[322] = 0; + out_8719681830852947447[323] = 1; } -void h_4(double *state, double *unused, double *out_6376674584644624571) { - out_6376674584644624571[0] = state[6] + state[9]; - out_6376674584644624571[1] = state[7] + state[10]; - out_6376674584644624571[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2598619130748282794) { + out_2598619130748282794[0] = state[6] + state[9]; + out_2598619130748282794[1] = state[7] + state[10]; + out_2598619130748282794[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1315349575378995160) { - out_1315349575378995160[0] = 0; - out_1315349575378995160[1] = 0; - out_1315349575378995160[2] = 0; - out_1315349575378995160[3] = 0; - out_1315349575378995160[4] = 0; - out_1315349575378995160[5] = 0; - out_1315349575378995160[6] = 1; - out_1315349575378995160[7] = 0; - out_1315349575378995160[8] = 0; - out_1315349575378995160[9] = 1; - out_1315349575378995160[10] = 0; - out_1315349575378995160[11] = 0; - out_1315349575378995160[12] = 0; - out_1315349575378995160[13] = 0; - out_1315349575378995160[14] = 0; - out_1315349575378995160[15] = 0; - out_1315349575378995160[16] = 0; - out_1315349575378995160[17] = 0; - out_1315349575378995160[18] = 0; - out_1315349575378995160[19] = 0; - out_1315349575378995160[20] = 0; - out_1315349575378995160[21] = 0; - out_1315349575378995160[22] = 0; - out_1315349575378995160[23] = 0; - out_1315349575378995160[24] = 0; - out_1315349575378995160[25] = 1; - out_1315349575378995160[26] = 0; - out_1315349575378995160[27] = 0; - out_1315349575378995160[28] = 1; - out_1315349575378995160[29] = 0; - out_1315349575378995160[30] = 0; - out_1315349575378995160[31] = 0; - out_1315349575378995160[32] = 0; - out_1315349575378995160[33] = 0; - out_1315349575378995160[34] = 0; - out_1315349575378995160[35] = 0; - out_1315349575378995160[36] = 0; - out_1315349575378995160[37] = 0; - out_1315349575378995160[38] = 0; - out_1315349575378995160[39] = 0; - out_1315349575378995160[40] = 0; - out_1315349575378995160[41] = 0; - out_1315349575378995160[42] = 0; - out_1315349575378995160[43] = 0; - out_1315349575378995160[44] = 1; - out_1315349575378995160[45] = 0; - out_1315349575378995160[46] = 0; - out_1315349575378995160[47] = 1; - out_1315349575378995160[48] = 0; - out_1315349575378995160[49] = 0; - out_1315349575378995160[50] = 0; - out_1315349575378995160[51] = 0; - out_1315349575378995160[52] = 0; - out_1315349575378995160[53] = 0; +void H_4(double *state, double *unused, double *out_2137219035779017707) { + out_2137219035779017707[0] = 0; + out_2137219035779017707[1] = 0; + out_2137219035779017707[2] = 0; + out_2137219035779017707[3] = 0; + out_2137219035779017707[4] = 0; + out_2137219035779017707[5] = 0; + out_2137219035779017707[6] = 1; + out_2137219035779017707[7] = 0; + out_2137219035779017707[8] = 0; + out_2137219035779017707[9] = 1; + out_2137219035779017707[10] = 0; + out_2137219035779017707[11] = 0; + out_2137219035779017707[12] = 0; + out_2137219035779017707[13] = 0; + out_2137219035779017707[14] = 0; + out_2137219035779017707[15] = 0; + out_2137219035779017707[16] = 0; + out_2137219035779017707[17] = 0; + out_2137219035779017707[18] = 0; + out_2137219035779017707[19] = 0; + out_2137219035779017707[20] = 0; + out_2137219035779017707[21] = 0; + out_2137219035779017707[22] = 0; + out_2137219035779017707[23] = 0; + out_2137219035779017707[24] = 0; + out_2137219035779017707[25] = 1; + out_2137219035779017707[26] = 0; + out_2137219035779017707[27] = 0; + out_2137219035779017707[28] = 1; + out_2137219035779017707[29] = 0; + out_2137219035779017707[30] = 0; + out_2137219035779017707[31] = 0; + out_2137219035779017707[32] = 0; + out_2137219035779017707[33] = 0; + out_2137219035779017707[34] = 0; + out_2137219035779017707[35] = 0; + out_2137219035779017707[36] = 0; + out_2137219035779017707[37] = 0; + out_2137219035779017707[38] = 0; + out_2137219035779017707[39] = 0; + out_2137219035779017707[40] = 0; + out_2137219035779017707[41] = 0; + out_2137219035779017707[42] = 0; + out_2137219035779017707[43] = 0; + out_2137219035779017707[44] = 1; + out_2137219035779017707[45] = 0; + out_2137219035779017707[46] = 0; + out_2137219035779017707[47] = 1; + out_2137219035779017707[48] = 0; + out_2137219035779017707[49] = 0; + out_2137219035779017707[50] = 0; + out_2137219035779017707[51] = 0; + out_2137219035779017707[52] = 0; + out_2137219035779017707[53] = 0; } -void h_10(double *state, double *unused, double *out_7386007572913415364) { - out_7386007572913415364[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7386007572913415364[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7386007572913415364[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_7728804711762559661) { + out_7728804711762559661[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7728804711762559661[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7728804711762559661[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_2432083188517445378) { - out_2432083188517445378[0] = 0; - out_2432083188517445378[1] = 9.8100000000000005*cos(state[1]); - out_2432083188517445378[2] = 0; - out_2432083188517445378[3] = 0; - out_2432083188517445378[4] = -state[8]; - out_2432083188517445378[5] = state[7]; - out_2432083188517445378[6] = 0; - out_2432083188517445378[7] = state[5]; - out_2432083188517445378[8] = -state[4]; - out_2432083188517445378[9] = 0; - out_2432083188517445378[10] = 0; - out_2432083188517445378[11] = 0; - out_2432083188517445378[12] = 1; - out_2432083188517445378[13] = 0; - out_2432083188517445378[14] = 0; - out_2432083188517445378[15] = 1; - out_2432083188517445378[16] = 0; - out_2432083188517445378[17] = 0; - out_2432083188517445378[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2432083188517445378[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2432083188517445378[20] = 0; - out_2432083188517445378[21] = state[8]; - out_2432083188517445378[22] = 0; - out_2432083188517445378[23] = -state[6]; - out_2432083188517445378[24] = -state[5]; - out_2432083188517445378[25] = 0; - out_2432083188517445378[26] = state[3]; - out_2432083188517445378[27] = 0; - out_2432083188517445378[28] = 0; - out_2432083188517445378[29] = 0; - out_2432083188517445378[30] = 0; - out_2432083188517445378[31] = 1; - out_2432083188517445378[32] = 0; - out_2432083188517445378[33] = 0; - out_2432083188517445378[34] = 1; - out_2432083188517445378[35] = 0; - out_2432083188517445378[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2432083188517445378[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2432083188517445378[38] = 0; - out_2432083188517445378[39] = -state[7]; - out_2432083188517445378[40] = state[6]; - out_2432083188517445378[41] = 0; - out_2432083188517445378[42] = state[4]; - out_2432083188517445378[43] = -state[3]; - out_2432083188517445378[44] = 0; - out_2432083188517445378[45] = 0; - out_2432083188517445378[46] = 0; - out_2432083188517445378[47] = 0; - out_2432083188517445378[48] = 0; - out_2432083188517445378[49] = 0; - out_2432083188517445378[50] = 1; - out_2432083188517445378[51] = 0; - out_2432083188517445378[52] = 0; - out_2432083188517445378[53] = 1; +void H_10(double *state, double *unused, double *out_3682779017075027073) { + out_3682779017075027073[0] = 0; + out_3682779017075027073[1] = 9.8100000000000005*cos(state[1]); + out_3682779017075027073[2] = 0; + out_3682779017075027073[3] = 0; + out_3682779017075027073[4] = -state[8]; + out_3682779017075027073[5] = state[7]; + out_3682779017075027073[6] = 0; + out_3682779017075027073[7] = state[5]; + out_3682779017075027073[8] = -state[4]; + out_3682779017075027073[9] = 0; + out_3682779017075027073[10] = 0; + out_3682779017075027073[11] = 0; + out_3682779017075027073[12] = 1; + out_3682779017075027073[13] = 0; + out_3682779017075027073[14] = 0; + out_3682779017075027073[15] = 1; + out_3682779017075027073[16] = 0; + out_3682779017075027073[17] = 0; + out_3682779017075027073[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3682779017075027073[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3682779017075027073[20] = 0; + out_3682779017075027073[21] = state[8]; + out_3682779017075027073[22] = 0; + out_3682779017075027073[23] = -state[6]; + out_3682779017075027073[24] = -state[5]; + out_3682779017075027073[25] = 0; + out_3682779017075027073[26] = state[3]; + out_3682779017075027073[27] = 0; + out_3682779017075027073[28] = 0; + out_3682779017075027073[29] = 0; + out_3682779017075027073[30] = 0; + out_3682779017075027073[31] = 1; + out_3682779017075027073[32] = 0; + out_3682779017075027073[33] = 0; + out_3682779017075027073[34] = 1; + out_3682779017075027073[35] = 0; + out_3682779017075027073[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3682779017075027073[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3682779017075027073[38] = 0; + out_3682779017075027073[39] = -state[7]; + out_3682779017075027073[40] = state[6]; + out_3682779017075027073[41] = 0; + out_3682779017075027073[42] = state[4]; + out_3682779017075027073[43] = -state[3]; + out_3682779017075027073[44] = 0; + out_3682779017075027073[45] = 0; + out_3682779017075027073[46] = 0; + out_3682779017075027073[47] = 0; + out_3682779017075027073[48] = 0; + out_3682779017075027073[49] = 0; + out_3682779017075027073[50] = 1; + out_3682779017075027073[51] = 0; + out_3682779017075027073[52] = 0; + out_3682779017075027073[53] = 1; } -void h_13(double *state, double *unused, double *out_2876319704878199880) { - out_2876319704878199880[0] = state[3]; - out_2876319704878199880[1] = state[4]; - out_2876319704878199880[2] = state[5]; +void h_13(double *state, double *unused, double *out_8746038974809318358) { + out_8746038974809318358[0] = state[3]; + out_8746038974809318358[1] = state[4]; + out_8746038974809318358[2] = state[5]; } -void H_13(double *state, double *unused, double *out_8925980783695696089) { - out_8925980783695696089[0] = 0; - out_8925980783695696089[1] = 0; - out_8925980783695696089[2] = 0; - out_8925980783695696089[3] = 1; - out_8925980783695696089[4] = 0; - out_8925980783695696089[5] = 0; - out_8925980783695696089[6] = 0; - out_8925980783695696089[7] = 0; - out_8925980783695696089[8] = 0; - out_8925980783695696089[9] = 0; - out_8925980783695696089[10] = 0; - out_8925980783695696089[11] = 0; - out_8925980783695696089[12] = 0; - out_8925980783695696089[13] = 0; - out_8925980783695696089[14] = 0; - out_8925980783695696089[15] = 0; - out_8925980783695696089[16] = 0; - out_8925980783695696089[17] = 0; - out_8925980783695696089[18] = 0; - out_8925980783695696089[19] = 0; - out_8925980783695696089[20] = 0; - out_8925980783695696089[21] = 0; - out_8925980783695696089[22] = 1; - out_8925980783695696089[23] = 0; - out_8925980783695696089[24] = 0; - out_8925980783695696089[25] = 0; - out_8925980783695696089[26] = 0; - out_8925980783695696089[27] = 0; - out_8925980783695696089[28] = 0; - out_8925980783695696089[29] = 0; - out_8925980783695696089[30] = 0; - out_8925980783695696089[31] = 0; - out_8925980783695696089[32] = 0; - out_8925980783695696089[33] = 0; - out_8925980783695696089[34] = 0; - out_8925980783695696089[35] = 0; - out_8925980783695696089[36] = 0; - out_8925980783695696089[37] = 0; - out_8925980783695696089[38] = 0; - out_8925980783695696089[39] = 0; - out_8925980783695696089[40] = 0; - out_8925980783695696089[41] = 1; - out_8925980783695696089[42] = 0; - out_8925980783695696089[43] = 0; - out_8925980783695696089[44] = 0; - out_8925980783695696089[45] = 0; - out_8925980783695696089[46] = 0; - out_8925980783695696089[47] = 0; - out_8925980783695696089[48] = 0; - out_8925980783695696089[49] = 0; - out_8925980783695696089[50] = 0; - out_8925980783695696089[51] = 0; - out_8925980783695696089[52] = 0; - out_8925980783695696089[53] = 0; +void H_13(double *state, double *unused, double *out_1075054789553315094) { + out_1075054789553315094[0] = 0; + out_1075054789553315094[1] = 0; + out_1075054789553315094[2] = 0; + out_1075054789553315094[3] = 1; + out_1075054789553315094[4] = 0; + out_1075054789553315094[5] = 0; + out_1075054789553315094[6] = 0; + out_1075054789553315094[7] = 0; + out_1075054789553315094[8] = 0; + out_1075054789553315094[9] = 0; + out_1075054789553315094[10] = 0; + out_1075054789553315094[11] = 0; + out_1075054789553315094[12] = 0; + out_1075054789553315094[13] = 0; + out_1075054789553315094[14] = 0; + out_1075054789553315094[15] = 0; + out_1075054789553315094[16] = 0; + out_1075054789553315094[17] = 0; + out_1075054789553315094[18] = 0; + out_1075054789553315094[19] = 0; + out_1075054789553315094[20] = 0; + out_1075054789553315094[21] = 0; + out_1075054789553315094[22] = 1; + out_1075054789553315094[23] = 0; + out_1075054789553315094[24] = 0; + out_1075054789553315094[25] = 0; + out_1075054789553315094[26] = 0; + out_1075054789553315094[27] = 0; + out_1075054789553315094[28] = 0; + out_1075054789553315094[29] = 0; + out_1075054789553315094[30] = 0; + out_1075054789553315094[31] = 0; + out_1075054789553315094[32] = 0; + out_1075054789553315094[33] = 0; + out_1075054789553315094[34] = 0; + out_1075054789553315094[35] = 0; + out_1075054789553315094[36] = 0; + out_1075054789553315094[37] = 0; + out_1075054789553315094[38] = 0; + out_1075054789553315094[39] = 0; + out_1075054789553315094[40] = 0; + out_1075054789553315094[41] = 1; + out_1075054789553315094[42] = 0; + out_1075054789553315094[43] = 0; + out_1075054789553315094[44] = 0; + out_1075054789553315094[45] = 0; + out_1075054789553315094[46] = 0; + out_1075054789553315094[47] = 0; + out_1075054789553315094[48] = 0; + out_1075054789553315094[49] = 0; + out_1075054789553315094[50] = 0; + out_1075054789553315094[51] = 0; + out_1075054789553315094[52] = 0; + out_1075054789553315094[53] = 0; } -void h_14(double *state, double *unused, double *out_1255542748321681251) { - out_1255542748321681251[0] = state[6]; - out_1255542748321681251[1] = state[7]; - out_1255542748321681251[2] = state[8]; +void h_14(double *state, double *unused, double *out_4279600364142536095) { + out_4279600364142536095[0] = state[6]; + out_4279600364142536095[1] = state[7]; + out_4279600364142536095[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5278590431718479689) { - out_5278590431718479689[0] = 0; - out_5278590431718479689[1] = 0; - out_5278590431718479689[2] = 0; - out_5278590431718479689[3] = 0; - out_5278590431718479689[4] = 0; - out_5278590431718479689[5] = 0; - out_5278590431718479689[6] = 1; - out_5278590431718479689[7] = 0; - out_5278590431718479689[8] = 0; - out_5278590431718479689[9] = 0; - out_5278590431718479689[10] = 0; - out_5278590431718479689[11] = 0; - out_5278590431718479689[12] = 0; - out_5278590431718479689[13] = 0; - out_5278590431718479689[14] = 0; - out_5278590431718479689[15] = 0; - out_5278590431718479689[16] = 0; - out_5278590431718479689[17] = 0; - out_5278590431718479689[18] = 0; - out_5278590431718479689[19] = 0; - out_5278590431718479689[20] = 0; - out_5278590431718479689[21] = 0; - out_5278590431718479689[22] = 0; - out_5278590431718479689[23] = 0; - out_5278590431718479689[24] = 0; - out_5278590431718479689[25] = 1; - out_5278590431718479689[26] = 0; - out_5278590431718479689[27] = 0; - out_5278590431718479689[28] = 0; - out_5278590431718479689[29] = 0; - out_5278590431718479689[30] = 0; - out_5278590431718479689[31] = 0; - out_5278590431718479689[32] = 0; - out_5278590431718479689[33] = 0; - out_5278590431718479689[34] = 0; - out_5278590431718479689[35] = 0; - out_5278590431718479689[36] = 0; - out_5278590431718479689[37] = 0; - out_5278590431718479689[38] = 0; - out_5278590431718479689[39] = 0; - out_5278590431718479689[40] = 0; - out_5278590431718479689[41] = 0; - out_5278590431718479689[42] = 0; - out_5278590431718479689[43] = 0; - out_5278590431718479689[44] = 1; - out_5278590431718479689[45] = 0; - out_5278590431718479689[46] = 0; - out_5278590431718479689[47] = 0; - out_5278590431718479689[48] = 0; - out_5278590431718479689[49] = 0; - out_5278590431718479689[50] = 0; - out_5278590431718479689[51] = 0; - out_5278590431718479689[52] = 0; - out_5278590431718479689[53] = 0; +void H_14(double *state, double *unused, double *out_5220007468074390003) { + out_5220007468074390003[0] = 0; + out_5220007468074390003[1] = 0; + out_5220007468074390003[2] = 0; + out_5220007468074390003[3] = 0; + out_5220007468074390003[4] = 0; + out_5220007468074390003[5] = 0; + out_5220007468074390003[6] = 1; + out_5220007468074390003[7] = 0; + out_5220007468074390003[8] = 0; + out_5220007468074390003[9] = 0; + out_5220007468074390003[10] = 0; + out_5220007468074390003[11] = 0; + out_5220007468074390003[12] = 0; + out_5220007468074390003[13] = 0; + out_5220007468074390003[14] = 0; + out_5220007468074390003[15] = 0; + out_5220007468074390003[16] = 0; + out_5220007468074390003[17] = 0; + out_5220007468074390003[18] = 0; + out_5220007468074390003[19] = 0; + out_5220007468074390003[20] = 0; + out_5220007468074390003[21] = 0; + out_5220007468074390003[22] = 0; + out_5220007468074390003[23] = 0; + out_5220007468074390003[24] = 0; + out_5220007468074390003[25] = 1; + out_5220007468074390003[26] = 0; + out_5220007468074390003[27] = 0; + out_5220007468074390003[28] = 0; + out_5220007468074390003[29] = 0; + out_5220007468074390003[30] = 0; + out_5220007468074390003[31] = 0; + out_5220007468074390003[32] = 0; + out_5220007468074390003[33] = 0; + out_5220007468074390003[34] = 0; + out_5220007468074390003[35] = 0; + out_5220007468074390003[36] = 0; + out_5220007468074390003[37] = 0; + out_5220007468074390003[38] = 0; + out_5220007468074390003[39] = 0; + out_5220007468074390003[40] = 0; + out_5220007468074390003[41] = 0; + out_5220007468074390003[42] = 0; + out_5220007468074390003[43] = 0; + out_5220007468074390003[44] = 1; + out_5220007468074390003[45] = 0; + out_5220007468074390003[46] = 0; + out_5220007468074390003[47] = 0; + out_5220007468074390003[48] = 0; + out_5220007468074390003[49] = 0; + out_5220007468074390003[50] = 0; + out_5220007468074390003[51] = 0; + out_5220007468074390003[52] = 0; + out_5220007468074390003[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_1282506072975981321) { - err_fun(nom_x, delta_x, out_1282506072975981321); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3122087598286484509) { + err_fun(nom_x, delta_x, out_3122087598286484509); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8512738075508223963) { - inv_err_fun(nom_x, true_x, out_8512738075508223963); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507) { + inv_err_fun(nom_x, true_x, out_6671609920081726507); } -void pose_H_mod_fun(double *state, double *out_3135048301285292021) { - H_mod_fun(state, out_3135048301285292021); +void pose_H_mod_fun(double *state, double *out_6807142630278803635) { + H_mod_fun(state, out_6807142630278803635); } -void pose_f_fun(double *state, double dt, double *out_8178969782644284561) { - f_fun(state, dt, out_8178969782644284561); +void pose_f_fun(double *state, double dt, double *out_6438279809192142379) { + f_fun(state, dt, out_6438279809192142379); } -void pose_F_fun(double *state, double dt, double *out_7659025943100145673) { - F_fun(state, dt, out_7659025943100145673); +void pose_F_fun(double *state, double dt, double *out_8719681830852947447) { + F_fun(state, dt, out_8719681830852947447); } -void pose_h_4(double *state, double *unused, double *out_6376674584644624571) { - h_4(state, unused, out_6376674584644624571); +void pose_h_4(double *state, double *unused, double *out_2598619130748282794) { + h_4(state, unused, out_2598619130748282794); } -void pose_H_4(double *state, double *unused, double *out_1315349575378995160) { - H_4(state, unused, out_1315349575378995160); +void pose_H_4(double *state, double *unused, double *out_2137219035779017707) { + H_4(state, unused, out_2137219035779017707); } -void pose_h_10(double *state, double *unused, double *out_7386007572913415364) { - h_10(state, unused, out_7386007572913415364); +void pose_h_10(double *state, double *unused, double *out_7728804711762559661) { + h_10(state, unused, out_7728804711762559661); } -void pose_H_10(double *state, double *unused, double *out_2432083188517445378) { - H_10(state, unused, out_2432083188517445378); +void pose_H_10(double *state, double *unused, double *out_3682779017075027073) { + H_10(state, unused, out_3682779017075027073); } -void pose_h_13(double *state, double *unused, double *out_2876319704878199880) { - h_13(state, unused, out_2876319704878199880); +void pose_h_13(double *state, double *unused, double *out_8746038974809318358) { + h_13(state, unused, out_8746038974809318358); } -void pose_H_13(double *state, double *unused, double *out_8925980783695696089) { - H_13(state, unused, out_8925980783695696089); +void pose_H_13(double *state, double *unused, double *out_1075054789553315094) { + H_13(state, unused, out_1075054789553315094); } -void pose_h_14(double *state, double *unused, double *out_1255542748321681251) { - h_14(state, unused, out_1255542748321681251); +void pose_h_14(double *state, double *unused, double *out_4279600364142536095) { + h_14(state, unused, out_4279600364142536095); } -void pose_H_14(double *state, double *unused, double *out_5278590431718479689) { - H_14(state, unused, out_5278590431718479689); +void pose_H_14(double *state, double *unused, double *out_5220007468074390003) { + H_14(state, unused, out_5220007468074390003); } 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 938ab6723..c4197c2a2 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_1282506072975981321); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8512738075508223963); -void pose_H_mod_fun(double *state, double *out_3135048301285292021); -void pose_f_fun(double *state, double dt, double *out_8178969782644284561); -void pose_F_fun(double *state, double dt, double *out_7659025943100145673); -void pose_h_4(double *state, double *unused, double *out_6376674584644624571); -void pose_H_4(double *state, double *unused, double *out_1315349575378995160); -void pose_h_10(double *state, double *unused, double *out_7386007572913415364); -void pose_H_10(double *state, double *unused, double *out_2432083188517445378); -void pose_h_13(double *state, double *unused, double *out_2876319704878199880); -void pose_H_13(double *state, double *unused, double *out_8925980783695696089); -void pose_h_14(double *state, double *unused, double *out_1255542748321681251); -void pose_H_14(double *state, double *unused, double *out_5278590431718479689); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3122087598286484509); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6671609920081726507); +void pose_H_mod_fun(double *state, double *out_6807142630278803635); +void pose_f_fun(double *state, double dt, double *out_6438279809192142379); +void pose_F_fun(double *state, double dt, double *out_8719681830852947447); +void pose_h_4(double *state, double *unused, double *out_2598619130748282794); +void pose_H_4(double *state, double *unused, double *out_2137219035779017707); +void pose_h_10(double *state, double *unused, double *out_7728804711762559661); +void pose_H_10(double *state, double *unused, double *out_3682779017075027073); +void pose_h_13(double *state, double *unused, double *out_8746038974809318358); +void pose_H_13(double *state, double *unused, double *out_1075054789553315094); +void pose_h_14(double *state, double *unused, double *out_4279600364142536095); +void pose_H_14(double *state, double *unused, double *out_5220007468074390003); 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 01b0b0493..fb3fcfd39 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 9ce735e57..a63ec0855 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 7e8770c58..afb8dcf9c 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index dedd16ea6..c89aa64d2 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 6b2546fc3..8b96f4f6e 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ