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a/panda/board/obj/version b/panda/board/obj/version index 013cc721b..64db35772 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-526f8e00-DEBUG \ No newline at end of file +DEV-9b9878ed-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index ebc7777ce..ba973bf41 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_4175267327343220067) { - out_4175267327343220067[0] = delta_x[0] + nom_x[0]; - out_4175267327343220067[1] = delta_x[1] + nom_x[1]; - out_4175267327343220067[2] = delta_x[2] + nom_x[2]; - out_4175267327343220067[3] = delta_x[3] + nom_x[3]; - out_4175267327343220067[4] = delta_x[4] + nom_x[4]; - out_4175267327343220067[5] = delta_x[5] + nom_x[5]; - out_4175267327343220067[6] = delta_x[6] + nom_x[6]; - out_4175267327343220067[7] = delta_x[7] + nom_x[7]; - out_4175267327343220067[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3258091067705697569) { + out_3258091067705697569[0] = delta_x[0] + nom_x[0]; + out_3258091067705697569[1] = delta_x[1] + nom_x[1]; + out_3258091067705697569[2] = delta_x[2] + nom_x[2]; + out_3258091067705697569[3] = delta_x[3] + nom_x[3]; + out_3258091067705697569[4] = delta_x[4] + nom_x[4]; + out_3258091067705697569[5] = delta_x[5] + nom_x[5]; + out_3258091067705697569[6] = delta_x[6] + nom_x[6]; + out_3258091067705697569[7] = delta_x[7] + nom_x[7]; + out_3258091067705697569[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298) { - out_8001717605441520298[0] = -nom_x[0] + true_x[0]; - out_8001717605441520298[1] = -nom_x[1] + true_x[1]; - out_8001717605441520298[2] = -nom_x[2] + true_x[2]; - out_8001717605441520298[3] = -nom_x[3] + true_x[3]; - out_8001717605441520298[4] = -nom_x[4] + true_x[4]; - out_8001717605441520298[5] = -nom_x[5] + true_x[5]; - out_8001717605441520298[6] = -nom_x[6] + true_x[6]; - out_8001717605441520298[7] = -nom_x[7] + true_x[7]; - out_8001717605441520298[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2755855052909692674) { + out_2755855052909692674[0] = -nom_x[0] + true_x[0]; + out_2755855052909692674[1] = -nom_x[1] + true_x[1]; + out_2755855052909692674[2] = -nom_x[2] + true_x[2]; + out_2755855052909692674[3] = -nom_x[3] + true_x[3]; + out_2755855052909692674[4] = -nom_x[4] + true_x[4]; + out_2755855052909692674[5] = -nom_x[5] + true_x[5]; + out_2755855052909692674[6] = -nom_x[6] + true_x[6]; + out_2755855052909692674[7] = -nom_x[7] + true_x[7]; + out_2755855052909692674[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7971983971871194008) { - out_7971983971871194008[0] = 1.0; - out_7971983971871194008[1] = 0.0; - out_7971983971871194008[2] = 0.0; - out_7971983971871194008[3] = 0.0; - out_7971983971871194008[4] = 0.0; - out_7971983971871194008[5] = 0.0; - out_7971983971871194008[6] = 0.0; - out_7971983971871194008[7] = 0.0; - out_7971983971871194008[8] = 0.0; - out_7971983971871194008[9] = 0.0; - out_7971983971871194008[10] = 1.0; - out_7971983971871194008[11] = 0.0; - out_7971983971871194008[12] = 0.0; - out_7971983971871194008[13] = 0.0; - out_7971983971871194008[14] = 0.0; - out_7971983971871194008[15] = 0.0; - out_7971983971871194008[16] = 0.0; - out_7971983971871194008[17] = 0.0; - out_7971983971871194008[18] = 0.0; - out_7971983971871194008[19] = 0.0; - out_7971983971871194008[20] = 1.0; - out_7971983971871194008[21] = 0.0; - out_7971983971871194008[22] = 0.0; - out_7971983971871194008[23] = 0.0; - out_7971983971871194008[24] = 0.0; - out_7971983971871194008[25] = 0.0; - out_7971983971871194008[26] = 0.0; - out_7971983971871194008[27] = 0.0; - out_7971983971871194008[28] = 0.0; - out_7971983971871194008[29] = 0.0; - out_7971983971871194008[30] = 1.0; - out_7971983971871194008[31] = 0.0; - out_7971983971871194008[32] = 0.0; - out_7971983971871194008[33] = 0.0; - out_7971983971871194008[34] = 0.0; - out_7971983971871194008[35] = 0.0; - out_7971983971871194008[36] = 0.0; - out_7971983971871194008[37] = 0.0; - out_7971983971871194008[38] = 0.0; - out_7971983971871194008[39] = 0.0; - out_7971983971871194008[40] = 1.0; - out_7971983971871194008[41] = 0.0; - out_7971983971871194008[42] = 0.0; - out_7971983971871194008[43] = 0.0; - out_7971983971871194008[44] = 0.0; - out_7971983971871194008[45] = 0.0; - out_7971983971871194008[46] = 0.0; - out_7971983971871194008[47] = 0.0; - out_7971983971871194008[48] = 0.0; - out_7971983971871194008[49] = 0.0; - out_7971983971871194008[50] = 1.0; - out_7971983971871194008[51] = 0.0; - out_7971983971871194008[52] = 0.0; - out_7971983971871194008[53] = 0.0; - out_7971983971871194008[54] = 0.0; - out_7971983971871194008[55] = 0.0; - out_7971983971871194008[56] = 0.0; - out_7971983971871194008[57] = 0.0; - out_7971983971871194008[58] = 0.0; - out_7971983971871194008[59] = 0.0; - out_7971983971871194008[60] = 1.0; - out_7971983971871194008[61] = 0.0; - out_7971983971871194008[62] = 0.0; - out_7971983971871194008[63] = 0.0; - out_7971983971871194008[64] = 0.0; - out_7971983971871194008[65] = 0.0; - out_7971983971871194008[66] = 0.0; - out_7971983971871194008[67] = 0.0; - out_7971983971871194008[68] = 0.0; - out_7971983971871194008[69] = 0.0; - out_7971983971871194008[70] = 1.0; - out_7971983971871194008[71] = 0.0; - out_7971983971871194008[72] = 0.0; - out_7971983971871194008[73] = 0.0; - out_7971983971871194008[74] = 0.0; - out_7971983971871194008[75] = 0.0; - out_7971983971871194008[76] = 0.0; - out_7971983971871194008[77] = 0.0; - out_7971983971871194008[78] = 0.0; - out_7971983971871194008[79] = 0.0; - out_7971983971871194008[80] = 1.0; +void H_mod_fun(double *state, double *out_7781028056435054793) { + out_7781028056435054793[0] = 1.0; + out_7781028056435054793[1] = 0.0; + out_7781028056435054793[2] = 0.0; + out_7781028056435054793[3] = 0.0; + out_7781028056435054793[4] = 0.0; + out_7781028056435054793[5] = 0.0; + out_7781028056435054793[6] = 0.0; + out_7781028056435054793[7] = 0.0; + out_7781028056435054793[8] = 0.0; + out_7781028056435054793[9] = 0.0; + out_7781028056435054793[10] = 1.0; + out_7781028056435054793[11] = 0.0; + out_7781028056435054793[12] = 0.0; + out_7781028056435054793[13] = 0.0; + out_7781028056435054793[14] = 0.0; + out_7781028056435054793[15] = 0.0; + out_7781028056435054793[16] = 0.0; + out_7781028056435054793[17] = 0.0; + out_7781028056435054793[18] = 0.0; + out_7781028056435054793[19] = 0.0; + out_7781028056435054793[20] = 1.0; + out_7781028056435054793[21] = 0.0; + out_7781028056435054793[22] = 0.0; + out_7781028056435054793[23] = 0.0; + out_7781028056435054793[24] = 0.0; + out_7781028056435054793[25] = 0.0; + out_7781028056435054793[26] = 0.0; + out_7781028056435054793[27] = 0.0; + out_7781028056435054793[28] = 0.0; + out_7781028056435054793[29] = 0.0; + out_7781028056435054793[30] = 1.0; + out_7781028056435054793[31] = 0.0; + out_7781028056435054793[32] = 0.0; + out_7781028056435054793[33] = 0.0; + out_7781028056435054793[34] = 0.0; + out_7781028056435054793[35] = 0.0; + out_7781028056435054793[36] = 0.0; + out_7781028056435054793[37] = 0.0; + out_7781028056435054793[38] = 0.0; + out_7781028056435054793[39] = 0.0; + out_7781028056435054793[40] = 1.0; + out_7781028056435054793[41] = 0.0; + out_7781028056435054793[42] = 0.0; + out_7781028056435054793[43] = 0.0; + out_7781028056435054793[44] = 0.0; + out_7781028056435054793[45] = 0.0; + out_7781028056435054793[46] = 0.0; + out_7781028056435054793[47] = 0.0; + out_7781028056435054793[48] = 0.0; + out_7781028056435054793[49] = 0.0; + out_7781028056435054793[50] = 1.0; + out_7781028056435054793[51] = 0.0; + out_7781028056435054793[52] = 0.0; + out_7781028056435054793[53] = 0.0; + out_7781028056435054793[54] = 0.0; + out_7781028056435054793[55] = 0.0; + out_7781028056435054793[56] = 0.0; + out_7781028056435054793[57] = 0.0; + out_7781028056435054793[58] = 0.0; + out_7781028056435054793[59] = 0.0; + out_7781028056435054793[60] = 1.0; + out_7781028056435054793[61] = 0.0; + out_7781028056435054793[62] = 0.0; + out_7781028056435054793[63] = 0.0; + out_7781028056435054793[64] = 0.0; + out_7781028056435054793[65] = 0.0; + out_7781028056435054793[66] = 0.0; + out_7781028056435054793[67] = 0.0; + out_7781028056435054793[68] = 0.0; + out_7781028056435054793[69] = 0.0; + out_7781028056435054793[70] = 1.0; + out_7781028056435054793[71] = 0.0; + out_7781028056435054793[72] = 0.0; + out_7781028056435054793[73] = 0.0; + out_7781028056435054793[74] = 0.0; + out_7781028056435054793[75] = 0.0; + out_7781028056435054793[76] = 0.0; + out_7781028056435054793[77] = 0.0; + out_7781028056435054793[78] = 0.0; + out_7781028056435054793[79] = 0.0; + out_7781028056435054793[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1960663178760025601) { - out_1960663178760025601[0] = state[0]; - out_1960663178760025601[1] = state[1]; - out_1960663178760025601[2] = state[2]; - out_1960663178760025601[3] = state[3]; - out_1960663178760025601[4] = state[4]; - out_1960663178760025601[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_1960663178760025601[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_1960663178760025601[7] = state[7]; - out_1960663178760025601[8] = state[8]; +void f_fun(double *state, double dt, double *out_2481579766534270415) { + out_2481579766534270415[0] = state[0]; + out_2481579766534270415[1] = state[1]; + out_2481579766534270415[2] = state[2]; + out_2481579766534270415[3] = state[3]; + out_2481579766534270415[4] = state[4]; + out_2481579766534270415[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_2481579766534270415[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_2481579766534270415[7] = state[7]; + out_2481579766534270415[8] = state[8]; } -void F_fun(double *state, double dt, double *out_893498683805935900) { - out_893498683805935900[0] = 1; - out_893498683805935900[1] = 0; - out_893498683805935900[2] = 0; - out_893498683805935900[3] = 0; - out_893498683805935900[4] = 0; - out_893498683805935900[5] = 0; - out_893498683805935900[6] = 0; - out_893498683805935900[7] = 0; - out_893498683805935900[8] = 0; - out_893498683805935900[9] = 0; - out_893498683805935900[10] = 1; - out_893498683805935900[11] = 0; - out_893498683805935900[12] = 0; - out_893498683805935900[13] = 0; - out_893498683805935900[14] = 0; - out_893498683805935900[15] = 0; - out_893498683805935900[16] = 0; - out_893498683805935900[17] = 0; - out_893498683805935900[18] = 0; - out_893498683805935900[19] = 0; - out_893498683805935900[20] = 1; - out_893498683805935900[21] = 0; - out_893498683805935900[22] = 0; - out_893498683805935900[23] = 0; - out_893498683805935900[24] = 0; - out_893498683805935900[25] = 0; - out_893498683805935900[26] = 0; - out_893498683805935900[27] = 0; - out_893498683805935900[28] = 0; - out_893498683805935900[29] = 0; - out_893498683805935900[30] = 1; - out_893498683805935900[31] = 0; - out_893498683805935900[32] = 0; - out_893498683805935900[33] = 0; - out_893498683805935900[34] = 0; - out_893498683805935900[35] = 0; - out_893498683805935900[36] = 0; - out_893498683805935900[37] = 0; - out_893498683805935900[38] = 0; - out_893498683805935900[39] = 0; - out_893498683805935900[40] = 1; - out_893498683805935900[41] = 0; - out_893498683805935900[42] = 0; - out_893498683805935900[43] = 0; - out_893498683805935900[44] = 0; - out_893498683805935900[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_893498683805935900[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_893498683805935900[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_893498683805935900[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_893498683805935900[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_893498683805935900[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_893498683805935900[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_893498683805935900[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_893498683805935900[53] = -9.8100000000000005*dt; - out_893498683805935900[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_893498683805935900[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_893498683805935900[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_893498683805935900[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_893498683805935900[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_893498683805935900[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_893498683805935900[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_893498683805935900[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_893498683805935900[62] = 0; - out_893498683805935900[63] = 0; - out_893498683805935900[64] = 0; - out_893498683805935900[65] = 0; - out_893498683805935900[66] = 0; - out_893498683805935900[67] = 0; - out_893498683805935900[68] = 0; - out_893498683805935900[69] = 0; - out_893498683805935900[70] = 1; - out_893498683805935900[71] = 0; - out_893498683805935900[72] = 0; - out_893498683805935900[73] = 0; - out_893498683805935900[74] = 0; - out_893498683805935900[75] = 0; - out_893498683805935900[76] = 0; - out_893498683805935900[77] = 0; - out_893498683805935900[78] = 0; - out_893498683805935900[79] = 0; - out_893498683805935900[80] = 1; +void F_fun(double *state, double dt, double *out_3144021140418811034) { + out_3144021140418811034[0] = 1; + out_3144021140418811034[1] = 0; + out_3144021140418811034[2] = 0; + out_3144021140418811034[3] = 0; + out_3144021140418811034[4] = 0; + out_3144021140418811034[5] = 0; + out_3144021140418811034[6] = 0; + out_3144021140418811034[7] = 0; + out_3144021140418811034[8] = 0; + out_3144021140418811034[9] = 0; + out_3144021140418811034[10] = 1; + out_3144021140418811034[11] = 0; + out_3144021140418811034[12] = 0; + out_3144021140418811034[13] = 0; + out_3144021140418811034[14] = 0; + out_3144021140418811034[15] = 0; + out_3144021140418811034[16] = 0; + out_3144021140418811034[17] = 0; + out_3144021140418811034[18] = 0; + out_3144021140418811034[19] = 0; + out_3144021140418811034[20] = 1; + out_3144021140418811034[21] = 0; + out_3144021140418811034[22] = 0; + out_3144021140418811034[23] = 0; + out_3144021140418811034[24] = 0; + out_3144021140418811034[25] = 0; + out_3144021140418811034[26] = 0; + out_3144021140418811034[27] = 0; + out_3144021140418811034[28] = 0; + out_3144021140418811034[29] = 0; + out_3144021140418811034[30] = 1; + out_3144021140418811034[31] = 0; + out_3144021140418811034[32] = 0; + out_3144021140418811034[33] = 0; + out_3144021140418811034[34] = 0; + out_3144021140418811034[35] = 0; + out_3144021140418811034[36] = 0; + out_3144021140418811034[37] = 0; + out_3144021140418811034[38] = 0; + out_3144021140418811034[39] = 0; + out_3144021140418811034[40] = 1; + out_3144021140418811034[41] = 0; + out_3144021140418811034[42] = 0; + out_3144021140418811034[43] = 0; + out_3144021140418811034[44] = 0; + out_3144021140418811034[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_3144021140418811034[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3144021140418811034[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3144021140418811034[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3144021140418811034[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_3144021140418811034[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3144021140418811034[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3144021140418811034[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3144021140418811034[53] = -9.8100000000000005*dt; + out_3144021140418811034[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_3144021140418811034[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3144021140418811034[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3144021140418811034[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3144021140418811034[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_3144021140418811034[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3144021140418811034[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_3144021140418811034[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3144021140418811034[62] = 0; + out_3144021140418811034[63] = 0; + out_3144021140418811034[64] = 0; + out_3144021140418811034[65] = 0; + out_3144021140418811034[66] = 0; + out_3144021140418811034[67] = 0; + out_3144021140418811034[68] = 0; + out_3144021140418811034[69] = 0; + out_3144021140418811034[70] = 1; + out_3144021140418811034[71] = 0; + out_3144021140418811034[72] = 0; + out_3144021140418811034[73] = 0; + out_3144021140418811034[74] = 0; + out_3144021140418811034[75] = 0; + out_3144021140418811034[76] = 0; + out_3144021140418811034[77] = 0; + out_3144021140418811034[78] = 0; + out_3144021140418811034[79] = 0; + out_3144021140418811034[80] = 1; } -void h_25(double *state, double *unused, double *out_3235092958161781685) { - out_3235092958161781685[0] = state[6]; +void h_25(double *state, double *unused, double *out_6782490269790769427) { + out_6782490269790769427[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4449003321881702331) { - out_4449003321881702331[0] = 0; - out_4449003321881702331[1] = 0; - out_4449003321881702331[2] = 0; - out_4449003321881702331[3] = 0; - out_4449003321881702331[4] = 0; - out_4449003321881702331[5] = 0; - out_4449003321881702331[6] = 1; - out_4449003321881702331[7] = 0; - out_4449003321881702331[8] = 0; +void H_25(double *state, double *unused, double *out_4168693057384466872) { + out_4168693057384466872[0] = 0; + out_4168693057384466872[1] = 0; + out_4168693057384466872[2] = 0; + out_4168693057384466872[3] = 0; + out_4168693057384466872[4] = 0; + out_4168693057384466872[5] = 0; + out_4168693057384466872[6] = 1; + out_4168693057384466872[7] = 0; + out_4168693057384466872[8] = 0; } -void h_24(double *state, double *unused, double *out_5426063249126145013) { - out_5426063249126145013[0] = state[4]; - out_5426063249126145013[1] = state[5]; +void h_24(double *state, double *unused, double *out_8556983568758949116) { + out_8556983568758949116[0] = state[4]; + out_8556983568758949116[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4845648626235561826) { - out_4845648626235561826[0] = 0; - out_4845648626235561826[1] = 0; - out_4845648626235561826[2] = 0; - out_4845648626235561826[3] = 0; - out_4845648626235561826[4] = 1; - out_4845648626235561826[5] = 0; - out_4845648626235561826[6] = 0; - out_4845648626235561826[7] = 0; - out_4845648626235561826[8] = 0; - out_4845648626235561826[9] = 0; - out_4845648626235561826[10] = 0; - out_4845648626235561826[11] = 0; - out_4845648626235561826[12] = 0; - out_4845648626235561826[13] = 0; - out_4845648626235561826[14] = 1; - out_4845648626235561826[15] = 0; - out_4845648626235561826[16] = 0; - out_4845648626235561826[17] = 0; +void H_24(double *state, double *unused, double *out_9004556733412072150) { + out_9004556733412072150[0] = 0; + out_9004556733412072150[1] = 0; + out_9004556733412072150[2] = 0; + out_9004556733412072150[3] = 0; + out_9004556733412072150[4] = 1; + out_9004556733412072150[5] = 0; + out_9004556733412072150[6] = 0; + out_9004556733412072150[7] = 0; + out_9004556733412072150[8] = 0; + out_9004556733412072150[9] = 0; + out_9004556733412072150[10] = 0; + out_9004556733412072150[11] = 0; + out_9004556733412072150[12] = 0; + out_9004556733412072150[13] = 0; + out_9004556733412072150[14] = 1; + out_9004556733412072150[15] = 0; + out_9004556733412072150[16] = 0; + out_9004556733412072150[17] = 0; } -void h_30(double *state, double *unused, double *out_9056203919707109802) { - out_9056203919707109802[0] = state[4]; +void h_30(double *state, double *unused, double *out_3145040741536747077) { + out_3145040741536747077[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1930670363374453704) { - out_1930670363374453704[0] = 0; - out_1930670363374453704[1] = 0; - out_1930670363374453704[2] = 0; - out_1930670363374453704[3] = 0; - out_1930670363374453704[4] = 1; - out_1930670363374453704[5] = 0; - out_1930670363374453704[6] = 0; - out_1930670363374453704[7] = 0; - out_1930670363374453704[8] = 0; +void H_30(double *state, double *unused, double *out_359003272743141326) { + out_359003272743141326[0] = 0; + out_359003272743141326[1] = 0; + out_359003272743141326[2] = 0; + out_359003272743141326[3] = 0; + out_359003272743141326[4] = 1; + out_359003272743141326[5] = 0; + out_359003272743141326[6] = 0; + out_359003272743141326[7] = 0; + out_359003272743141326[8] = 0; } -void h_26(double *state, double *unused, double *out_6243651816437256419) { - out_6243651816437256419[0] = state[7]; +void h_26(double *state, double *unused, double *out_4127124834872045189) { + out_4127124834872045189[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8190506640755758555) { - out_8190506640755758555[0] = 0; - out_8190506640755758555[1] = 0; - out_8190506640755758555[2] = 0; - out_8190506640755758555[3] = 0; - out_8190506640755758555[4] = 0; - out_8190506640755758555[5] = 0; - out_8190506640755758555[6] = 0; - out_8190506640755758555[7] = 1; - out_8190506640755758555[8] = 0; +void H_26(double *state, double *unused, double *out_427189738510410648) { + out_427189738510410648[0] = 0; + out_427189738510410648[1] = 0; + out_427189738510410648[2] = 0; + out_427189738510410648[3] = 0; + out_427189738510410648[4] = 0; + out_427189738510410648[5] = 0; + out_427189738510410648[6] = 0; + out_427189738510410648[7] = 1; + out_427189738510410648[8] = 0; } -void h_27(double *state, double *unused, double *out_3838408842838259202) { - out_3838408842838259202[0] = state[3]; +void h_27(double *state, double *unused, double *out_1780817002129923782) { + out_1780817002129923782[0] = state[3]; } -void H_27(double *state, double *unused, double *out_292923707809489513) { - out_292923707809489513[0] = 0; - out_292923707809489513[1] = 0; - out_292923707809489513[2] = 0; - out_292923707809489513[3] = 1; - out_292923707809489513[4] = 0; - out_292923707809489513[5] = 0; - out_292923707809489513[6] = 0; - out_292923707809489513[7] = 0; - out_292923707809489513[8] = 0; +void H_27(double *state, double *unused, double *out_2533766584543566237) { + out_2533766584543566237[0] = 0; + out_2533766584543566237[1] = 0; + out_2533766584543566237[2] = 0; + out_2533766584543566237[3] = 1; + out_2533766584543566237[4] = 0; + out_2533766584543566237[5] = 0; + out_2533766584543566237[6] = 0; + out_2533766584543566237[7] = 0; + out_2533766584543566237[8] = 0; } -void h_29(double *state, double *unused, double *out_259894455441112662) { - out_259894455441112662[0] = state[1]; +void h_29(double *state, double *unused, double *out_8902661814758955393) { + out_8902661814758955393[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1420439019060061520) { - out_1420439019060061520[0] = 0; - out_1420439019060061520[1] = 1; - out_1420439019060061520[2] = 0; - out_1420439019060061520[3] = 0; - out_1420439019060061520[4] = 0; - out_1420439019060061520[5] = 0; - out_1420439019060061520[6] = 0; - out_1420439019060061520[7] = 0; - out_1420439019060061520[8] = 0; +void H_29(double *state, double *unused, double *out_151228071571250858) { + out_151228071571250858[0] = 0; + out_151228071571250858[1] = 1; + out_151228071571250858[2] = 0; + out_151228071571250858[3] = 0; + out_151228071571250858[4] = 0; + out_151228071571250858[5] = 0; + out_151228071571250858[6] = 0; + out_151228071571250858[7] = 0; + out_151228071571250858[8] = 0; } -void h_28(double *state, double *unused, double *out_5143560329168581563) { - out_5143560329168581563[0] = state[0]; +void h_28(double *state, double *unused, double *out_7683957899572787069) { + out_7683957899572787069[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6502838036129592094) { - out_6502838036129592094[0] = 1; - out_6502838036129592094[1] = 0; - out_6502838036129592094[2] = 0; - out_6502838036129592094[3] = 0; - out_6502838036129592094[4] = 0; - out_6502838036129592094[5] = 0; - out_6502838036129592094[6] = 0; - out_6502838036129592094[7] = 0; - out_6502838036129592094[8] = 0; +void H_28(double *state, double *unused, double *out_4931170945498279716) { + out_4931170945498279716[0] = 1; + out_4931170945498279716[1] = 0; + out_4931170945498279716[2] = 0; + out_4931170945498279716[3] = 0; + out_4931170945498279716[4] = 0; + out_4931170945498279716[5] = 0; + out_4931170945498279716[6] = 0; + out_4931170945498279716[7] = 0; + out_4931170945498279716[8] = 0; } -void h_31(double *state, double *unused, double *out_2959898895877275796) { - out_2959898895877275796[0] = state[8]; +void h_31(double *state, double *unused, double *out_678068494458118898) { + out_678068494458118898[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4418357360004741903) { - out_4418357360004741903[0] = 0; - out_4418357360004741903[1] = 0; - out_4418357360004741903[2] = 0; - out_4418357360004741903[3] = 0; - out_4418357360004741903[4] = 0; - out_4418357360004741903[5] = 0; - out_4418357360004741903[6] = 0; - out_4418357360004741903[7] = 0; - out_4418357360004741903[8] = 1; +void H_31(double *state, double *unused, double *out_199018363722940828) { + out_199018363722940828[0] = 0; + out_199018363722940828[1] = 0; + out_199018363722940828[2] = 0; + out_199018363722940828[3] = 0; + out_199018363722940828[4] = 0; + out_199018363722940828[5] = 0; + out_199018363722940828[6] = 0; + out_199018363722940828[7] = 0; + out_199018363722940828[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_4175267327343220067) { - err_fun(nom_x, delta_x, out_4175267327343220067); +void car_err_fun(double *nom_x, double *delta_x, double *out_3258091067705697569) { + err_fun(nom_x, delta_x, out_3258091067705697569); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298) { - inv_err_fun(nom_x, true_x, out_8001717605441520298); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2755855052909692674) { + inv_err_fun(nom_x, true_x, out_2755855052909692674); } -void car_H_mod_fun(double *state, double *out_7971983971871194008) { - H_mod_fun(state, out_7971983971871194008); +void car_H_mod_fun(double *state, double *out_7781028056435054793) { + H_mod_fun(state, out_7781028056435054793); } -void car_f_fun(double *state, double dt, double *out_1960663178760025601) { - f_fun(state, dt, out_1960663178760025601); +void car_f_fun(double *state, double dt, double *out_2481579766534270415) { + f_fun(state, dt, out_2481579766534270415); } -void car_F_fun(double *state, double dt, double *out_893498683805935900) { - F_fun(state, dt, out_893498683805935900); +void car_F_fun(double *state, double dt, double *out_3144021140418811034) { + F_fun(state, dt, out_3144021140418811034); } -void car_h_25(double *state, double *unused, double *out_3235092958161781685) { - h_25(state, unused, out_3235092958161781685); +void car_h_25(double *state, double *unused, double *out_6782490269790769427) { + h_25(state, unused, out_6782490269790769427); } -void car_H_25(double *state, double *unused, double *out_4449003321881702331) { - H_25(state, unused, out_4449003321881702331); +void car_H_25(double *state, double *unused, double *out_4168693057384466872) { + H_25(state, unused, out_4168693057384466872); } -void car_h_24(double *state, double *unused, double *out_5426063249126145013) { - h_24(state, unused, out_5426063249126145013); +void car_h_24(double *state, double *unused, double *out_8556983568758949116) { + h_24(state, unused, out_8556983568758949116); } -void car_H_24(double *state, double *unused, double *out_4845648626235561826) { - H_24(state, unused, out_4845648626235561826); +void car_H_24(double *state, double *unused, double *out_9004556733412072150) { + H_24(state, unused, out_9004556733412072150); } -void car_h_30(double *state, double *unused, double *out_9056203919707109802) { - h_30(state, unused, out_9056203919707109802); +void car_h_30(double *state, double *unused, double *out_3145040741536747077) { + h_30(state, unused, out_3145040741536747077); } -void car_H_30(double *state, double *unused, double *out_1930670363374453704) { - H_30(state, unused, out_1930670363374453704); +void car_H_30(double *state, double *unused, double *out_359003272743141326) { + H_30(state, unused, out_359003272743141326); } -void car_h_26(double *state, double *unused, double *out_6243651816437256419) { - h_26(state, unused, out_6243651816437256419); +void car_h_26(double *state, double *unused, double *out_4127124834872045189) { + h_26(state, unused, out_4127124834872045189); } -void car_H_26(double *state, double *unused, double *out_8190506640755758555) { - H_26(state, unused, out_8190506640755758555); +void car_H_26(double *state, double *unused, double *out_427189738510410648) { + H_26(state, unused, out_427189738510410648); } -void car_h_27(double *state, double *unused, double *out_3838408842838259202) { - h_27(state, unused, out_3838408842838259202); +void car_h_27(double *state, double *unused, double *out_1780817002129923782) { + h_27(state, unused, out_1780817002129923782); } -void car_H_27(double *state, double *unused, double *out_292923707809489513) { - H_27(state, unused, out_292923707809489513); +void car_H_27(double *state, double *unused, double *out_2533766584543566237) { + H_27(state, unused, out_2533766584543566237); } -void car_h_29(double *state, double *unused, double *out_259894455441112662) { - h_29(state, unused, out_259894455441112662); +void car_h_29(double *state, double *unused, double *out_8902661814758955393) { + h_29(state, unused, out_8902661814758955393); } -void car_H_29(double *state, double *unused, double *out_1420439019060061520) { - H_29(state, unused, out_1420439019060061520); +void car_H_29(double *state, double *unused, double *out_151228071571250858) { + H_29(state, unused, out_151228071571250858); } -void car_h_28(double *state, double *unused, double *out_5143560329168581563) { - h_28(state, unused, out_5143560329168581563); +void car_h_28(double *state, double *unused, double *out_7683957899572787069) { + h_28(state, unused, out_7683957899572787069); } -void car_H_28(double *state, double *unused, double *out_6502838036129592094) { - H_28(state, unused, out_6502838036129592094); +void car_H_28(double *state, double *unused, double *out_4931170945498279716) { + H_28(state, unused, out_4931170945498279716); } -void car_h_31(double *state, double *unused, double *out_2959898895877275796) { - h_31(state, unused, out_2959898895877275796); +void car_h_31(double *state, double *unused, double *out_678068494458118898) { + h_31(state, unused, out_678068494458118898); } -void car_H_31(double *state, double *unused, double *out_4418357360004741903) { - H_31(state, unused, out_4418357360004741903); +void car_H_31(double *state, double *unused, double *out_199018363722940828) { + H_31(state, unused, out_199018363722940828); } 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 bebdb88ba..d8192f81a 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_4175267327343220067); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298); -void car_H_mod_fun(double *state, double *out_7971983971871194008); -void car_f_fun(double *state, double dt, double *out_1960663178760025601); -void car_F_fun(double *state, double dt, double *out_893498683805935900); -void car_h_25(double *state, double *unused, double *out_3235092958161781685); -void car_H_25(double *state, double *unused, double *out_4449003321881702331); -void car_h_24(double *state, double *unused, double *out_5426063249126145013); -void car_H_24(double *state, double *unused, double *out_4845648626235561826); -void car_h_30(double *state, double *unused, double *out_9056203919707109802); -void car_H_30(double *state, double *unused, double *out_1930670363374453704); -void car_h_26(double *state, double *unused, double *out_6243651816437256419); -void car_H_26(double *state, double *unused, double *out_8190506640755758555); -void car_h_27(double *state, double *unused, double *out_3838408842838259202); -void car_H_27(double *state, double *unused, double *out_292923707809489513); -void car_h_29(double *state, double *unused, double *out_259894455441112662); -void car_H_29(double *state, double *unused, double *out_1420439019060061520); -void car_h_28(double *state, double *unused, double *out_5143560329168581563); -void car_H_28(double *state, double *unused, double *out_6502838036129592094); -void car_h_31(double *state, double *unused, double *out_2959898895877275796); -void car_H_31(double *state, double *unused, double *out_4418357360004741903); +void car_err_fun(double *nom_x, double *delta_x, double *out_3258091067705697569); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_2755855052909692674); +void car_H_mod_fun(double *state, double *out_7781028056435054793); +void car_f_fun(double *state, double dt, double *out_2481579766534270415); +void car_F_fun(double *state, double dt, double *out_3144021140418811034); +void car_h_25(double *state, double *unused, double *out_6782490269790769427); +void car_H_25(double *state, double *unused, double *out_4168693057384466872); +void car_h_24(double *state, double *unused, double *out_8556983568758949116); +void car_H_24(double *state, double *unused, double *out_9004556733412072150); +void car_h_30(double *state, double *unused, double *out_3145040741536747077); +void car_H_30(double *state, double *unused, double *out_359003272743141326); +void car_h_26(double *state, double *unused, double *out_4127124834872045189); +void car_H_26(double *state, double *unused, double *out_427189738510410648); +void car_h_27(double *state, double *unused, double *out_1780817002129923782); +void car_H_27(double *state, double *unused, double *out_2533766584543566237); +void car_h_29(double *state, double *unused, double *out_8902661814758955393); +void car_H_29(double *state, double *unused, double *out_151228071571250858); +void car_h_28(double *state, double *unused, double *out_7683957899572787069); +void car_H_28(double *state, double *unused, double *out_4931170945498279716); +void car_h_31(double *state, double *unused, double *out_678068494458118898); +void car_H_31(double *state, double *unused, double *out_199018363722940828); 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 b9b421d90..ff6a6dbf1 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_2182435369834896236) { - out_2182435369834896236[0] = delta_x[0] + nom_x[0]; - out_2182435369834896236[1] = delta_x[1] + nom_x[1]; - out_2182435369834896236[2] = delta_x[2] + nom_x[2]; - out_2182435369834896236[3] = delta_x[3] + nom_x[3]; - out_2182435369834896236[4] = delta_x[4] + nom_x[4]; - out_2182435369834896236[5] = delta_x[5] + nom_x[5]; - out_2182435369834896236[6] = delta_x[6] + nom_x[6]; - out_2182435369834896236[7] = delta_x[7] + nom_x[7]; - out_2182435369834896236[8] = delta_x[8] + nom_x[8]; - out_2182435369834896236[9] = delta_x[9] + nom_x[9]; - out_2182435369834896236[10] = delta_x[10] + nom_x[10]; - out_2182435369834896236[11] = delta_x[11] + nom_x[11]; - out_2182435369834896236[12] = delta_x[12] + nom_x[12]; - out_2182435369834896236[13] = delta_x[13] + nom_x[13]; - out_2182435369834896236[14] = delta_x[14] + nom_x[14]; - out_2182435369834896236[15] = delta_x[15] + nom_x[15]; - out_2182435369834896236[16] = delta_x[16] + nom_x[16]; - out_2182435369834896236[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7195396181340429812) { + out_7195396181340429812[0] = delta_x[0] + nom_x[0]; + out_7195396181340429812[1] = delta_x[1] + nom_x[1]; + out_7195396181340429812[2] = delta_x[2] + nom_x[2]; + out_7195396181340429812[3] = delta_x[3] + nom_x[3]; + out_7195396181340429812[4] = delta_x[4] + nom_x[4]; + out_7195396181340429812[5] = delta_x[5] + nom_x[5]; + out_7195396181340429812[6] = delta_x[6] + nom_x[6]; + out_7195396181340429812[7] = delta_x[7] + nom_x[7]; + out_7195396181340429812[8] = delta_x[8] + nom_x[8]; + out_7195396181340429812[9] = delta_x[9] + nom_x[9]; + out_7195396181340429812[10] = delta_x[10] + nom_x[10]; + out_7195396181340429812[11] = delta_x[11] + nom_x[11]; + out_7195396181340429812[12] = delta_x[12] + nom_x[12]; + out_7195396181340429812[13] = delta_x[13] + nom_x[13]; + out_7195396181340429812[14] = delta_x[14] + nom_x[14]; + out_7195396181340429812[15] = delta_x[15] + nom_x[15]; + out_7195396181340429812[16] = delta_x[16] + nom_x[16]; + out_7195396181340429812[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197) { - out_2883166859334089197[0] = -nom_x[0] + true_x[0]; - out_2883166859334089197[1] = -nom_x[1] + true_x[1]; - out_2883166859334089197[2] = -nom_x[2] + true_x[2]; - out_2883166859334089197[3] = -nom_x[3] + true_x[3]; - out_2883166859334089197[4] = -nom_x[4] + true_x[4]; - out_2883166859334089197[5] = -nom_x[5] + true_x[5]; - out_2883166859334089197[6] = -nom_x[6] + true_x[6]; - out_2883166859334089197[7] = -nom_x[7] + true_x[7]; - out_2883166859334089197[8] = -nom_x[8] + true_x[8]; - out_2883166859334089197[9] = -nom_x[9] + true_x[9]; - out_2883166859334089197[10] = -nom_x[10] + true_x[10]; - out_2883166859334089197[11] = -nom_x[11] + true_x[11]; - out_2883166859334089197[12] = -nom_x[12] + true_x[12]; - out_2883166859334089197[13] = -nom_x[13] + true_x[13]; - out_2883166859334089197[14] = -nom_x[14] + true_x[14]; - out_2883166859334089197[15] = -nom_x[15] + true_x[15]; - out_2883166859334089197[16] = -nom_x[16] + true_x[16]; - out_2883166859334089197[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6214721926630491138) { + out_6214721926630491138[0] = -nom_x[0] + true_x[0]; + out_6214721926630491138[1] = -nom_x[1] + true_x[1]; + out_6214721926630491138[2] = -nom_x[2] + true_x[2]; + out_6214721926630491138[3] = -nom_x[3] + true_x[3]; + out_6214721926630491138[4] = -nom_x[4] + true_x[4]; + out_6214721926630491138[5] = -nom_x[5] + true_x[5]; + out_6214721926630491138[6] = -nom_x[6] + true_x[6]; + out_6214721926630491138[7] = -nom_x[7] + true_x[7]; + out_6214721926630491138[8] = -nom_x[8] + true_x[8]; + out_6214721926630491138[9] = -nom_x[9] + true_x[9]; + out_6214721926630491138[10] = -nom_x[10] + true_x[10]; + out_6214721926630491138[11] = -nom_x[11] + true_x[11]; + out_6214721926630491138[12] = -nom_x[12] + true_x[12]; + out_6214721926630491138[13] = -nom_x[13] + true_x[13]; + out_6214721926630491138[14] = -nom_x[14] + true_x[14]; + out_6214721926630491138[15] = -nom_x[15] + true_x[15]; + out_6214721926630491138[16] = -nom_x[16] + true_x[16]; + out_6214721926630491138[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_671491409411989589) { - out_671491409411989589[0] = 1.0; - out_671491409411989589[1] = 0.0; - out_671491409411989589[2] = 0.0; - out_671491409411989589[3] = 0.0; - out_671491409411989589[4] = 0.0; - out_671491409411989589[5] = 0.0; - out_671491409411989589[6] = 0.0; - out_671491409411989589[7] = 0.0; - out_671491409411989589[8] = 0.0; - out_671491409411989589[9] = 0.0; - out_671491409411989589[10] = 0.0; - out_671491409411989589[11] = 0.0; - out_671491409411989589[12] = 0.0; - out_671491409411989589[13] = 0.0; - out_671491409411989589[14] = 0.0; - out_671491409411989589[15] = 0.0; - out_671491409411989589[16] = 0.0; - out_671491409411989589[17] = 0.0; - out_671491409411989589[18] = 0.0; - out_671491409411989589[19] = 1.0; - out_671491409411989589[20] = 0.0; - out_671491409411989589[21] = 0.0; - out_671491409411989589[22] = 0.0; - out_671491409411989589[23] = 0.0; - out_671491409411989589[24] = 0.0; - out_671491409411989589[25] = 0.0; - out_671491409411989589[26] = 0.0; - out_671491409411989589[27] = 0.0; - out_671491409411989589[28] = 0.0; - out_671491409411989589[29] = 0.0; - out_671491409411989589[30] = 0.0; - out_671491409411989589[31] = 0.0; - out_671491409411989589[32] = 0.0; - out_671491409411989589[33] = 0.0; - out_671491409411989589[34] = 0.0; - out_671491409411989589[35] = 0.0; - out_671491409411989589[36] = 0.0; - out_671491409411989589[37] = 0.0; - out_671491409411989589[38] = 1.0; - out_671491409411989589[39] = 0.0; - out_671491409411989589[40] = 0.0; - out_671491409411989589[41] = 0.0; - out_671491409411989589[42] = 0.0; - out_671491409411989589[43] = 0.0; - out_671491409411989589[44] = 0.0; - out_671491409411989589[45] = 0.0; - out_671491409411989589[46] = 0.0; - out_671491409411989589[47] = 0.0; - out_671491409411989589[48] = 0.0; - out_671491409411989589[49] = 0.0; - out_671491409411989589[50] = 0.0; - out_671491409411989589[51] = 0.0; - out_671491409411989589[52] = 0.0; - out_671491409411989589[53] = 0.0; - out_671491409411989589[54] = 0.0; - out_671491409411989589[55] = 0.0; - out_671491409411989589[56] = 0.0; - out_671491409411989589[57] = 1.0; - out_671491409411989589[58] = 0.0; - out_671491409411989589[59] = 0.0; - out_671491409411989589[60] = 0.0; - out_671491409411989589[61] = 0.0; - out_671491409411989589[62] = 0.0; - out_671491409411989589[63] = 0.0; - out_671491409411989589[64] = 0.0; - out_671491409411989589[65] = 0.0; - out_671491409411989589[66] = 0.0; - out_671491409411989589[67] = 0.0; - out_671491409411989589[68] = 0.0; - out_671491409411989589[69] = 0.0; - out_671491409411989589[70] = 0.0; - out_671491409411989589[71] = 0.0; - out_671491409411989589[72] = 0.0; - out_671491409411989589[73] = 0.0; - out_671491409411989589[74] = 0.0; - out_671491409411989589[75] = 0.0; - out_671491409411989589[76] = 1.0; - out_671491409411989589[77] = 0.0; - out_671491409411989589[78] = 0.0; - out_671491409411989589[79] = 0.0; - out_671491409411989589[80] = 0.0; - out_671491409411989589[81] = 0.0; - out_671491409411989589[82] = 0.0; - out_671491409411989589[83] = 0.0; - out_671491409411989589[84] = 0.0; - out_671491409411989589[85] = 0.0; - out_671491409411989589[86] = 0.0; - out_671491409411989589[87] = 0.0; - out_671491409411989589[88] = 0.0; - out_671491409411989589[89] = 0.0; - out_671491409411989589[90] = 0.0; - out_671491409411989589[91] = 0.0; - out_671491409411989589[92] = 0.0; - out_671491409411989589[93] = 0.0; - out_671491409411989589[94] = 0.0; - out_671491409411989589[95] = 1.0; - out_671491409411989589[96] = 0.0; - out_671491409411989589[97] = 0.0; - out_671491409411989589[98] = 0.0; - out_671491409411989589[99] = 0.0; - out_671491409411989589[100] = 0.0; - out_671491409411989589[101] = 0.0; - out_671491409411989589[102] = 0.0; - out_671491409411989589[103] = 0.0; - out_671491409411989589[104] = 0.0; - out_671491409411989589[105] = 0.0; - out_671491409411989589[106] = 0.0; - out_671491409411989589[107] = 0.0; - out_671491409411989589[108] = 0.0; - out_671491409411989589[109] = 0.0; - out_671491409411989589[110] = 0.0; - out_671491409411989589[111] = 0.0; - out_671491409411989589[112] = 0.0; - out_671491409411989589[113] = 0.0; - out_671491409411989589[114] = 1.0; - out_671491409411989589[115] = 0.0; - out_671491409411989589[116] = 0.0; - out_671491409411989589[117] = 0.0; - out_671491409411989589[118] = 0.0; - out_671491409411989589[119] = 0.0; - out_671491409411989589[120] = 0.0; - out_671491409411989589[121] = 0.0; - out_671491409411989589[122] = 0.0; - out_671491409411989589[123] = 0.0; - out_671491409411989589[124] = 0.0; - out_671491409411989589[125] = 0.0; - out_671491409411989589[126] = 0.0; - out_671491409411989589[127] = 0.0; - out_671491409411989589[128] = 0.0; - out_671491409411989589[129] = 0.0; - out_671491409411989589[130] = 0.0; - out_671491409411989589[131] = 0.0; - out_671491409411989589[132] = 0.0; - out_671491409411989589[133] = 1.0; - out_671491409411989589[134] = 0.0; - out_671491409411989589[135] = 0.0; - out_671491409411989589[136] = 0.0; - out_671491409411989589[137] = 0.0; - out_671491409411989589[138] = 0.0; - out_671491409411989589[139] = 0.0; - out_671491409411989589[140] = 0.0; - out_671491409411989589[141] = 0.0; - out_671491409411989589[142] = 0.0; - out_671491409411989589[143] = 0.0; - out_671491409411989589[144] = 0.0; - out_671491409411989589[145] = 0.0; - out_671491409411989589[146] = 0.0; - out_671491409411989589[147] = 0.0; - out_671491409411989589[148] = 0.0; - out_671491409411989589[149] = 0.0; - out_671491409411989589[150] = 0.0; - out_671491409411989589[151] = 0.0; - out_671491409411989589[152] = 1.0; - out_671491409411989589[153] = 0.0; - out_671491409411989589[154] = 0.0; - out_671491409411989589[155] = 0.0; - out_671491409411989589[156] = 0.0; - out_671491409411989589[157] = 0.0; - out_671491409411989589[158] = 0.0; - out_671491409411989589[159] = 0.0; - out_671491409411989589[160] = 0.0; - out_671491409411989589[161] = 0.0; - out_671491409411989589[162] = 0.0; - out_671491409411989589[163] = 0.0; - out_671491409411989589[164] = 0.0; - out_671491409411989589[165] = 0.0; - out_671491409411989589[166] = 0.0; - out_671491409411989589[167] = 0.0; - out_671491409411989589[168] = 0.0; - out_671491409411989589[169] = 0.0; - out_671491409411989589[170] = 0.0; - out_671491409411989589[171] = 1.0; - out_671491409411989589[172] = 0.0; - out_671491409411989589[173] = 0.0; - out_671491409411989589[174] = 0.0; - out_671491409411989589[175] = 0.0; - out_671491409411989589[176] = 0.0; - out_671491409411989589[177] = 0.0; - out_671491409411989589[178] = 0.0; - out_671491409411989589[179] = 0.0; - out_671491409411989589[180] = 0.0; - out_671491409411989589[181] = 0.0; - out_671491409411989589[182] = 0.0; - out_671491409411989589[183] = 0.0; - out_671491409411989589[184] = 0.0; - out_671491409411989589[185] = 0.0; - out_671491409411989589[186] = 0.0; - out_671491409411989589[187] = 0.0; - out_671491409411989589[188] = 0.0; - out_671491409411989589[189] = 0.0; - out_671491409411989589[190] = 1.0; - out_671491409411989589[191] = 0.0; - out_671491409411989589[192] = 0.0; - out_671491409411989589[193] = 0.0; - out_671491409411989589[194] = 0.0; - out_671491409411989589[195] = 0.0; - out_671491409411989589[196] = 0.0; - out_671491409411989589[197] = 0.0; - out_671491409411989589[198] = 0.0; - out_671491409411989589[199] = 0.0; - out_671491409411989589[200] = 0.0; - out_671491409411989589[201] = 0.0; - out_671491409411989589[202] = 0.0; - out_671491409411989589[203] = 0.0; - out_671491409411989589[204] = 0.0; - out_671491409411989589[205] = 0.0; - out_671491409411989589[206] = 0.0; - out_671491409411989589[207] = 0.0; - out_671491409411989589[208] = 0.0; - out_671491409411989589[209] = 1.0; - out_671491409411989589[210] = 0.0; - out_671491409411989589[211] = 0.0; - out_671491409411989589[212] = 0.0; - out_671491409411989589[213] = 0.0; - out_671491409411989589[214] = 0.0; - out_671491409411989589[215] = 0.0; - out_671491409411989589[216] = 0.0; - out_671491409411989589[217] = 0.0; - out_671491409411989589[218] = 0.0; - out_671491409411989589[219] = 0.0; - out_671491409411989589[220] = 0.0; - out_671491409411989589[221] = 0.0; - out_671491409411989589[222] = 0.0; - out_671491409411989589[223] = 0.0; - out_671491409411989589[224] = 0.0; - out_671491409411989589[225] = 0.0; - out_671491409411989589[226] = 0.0; - out_671491409411989589[227] = 0.0; - out_671491409411989589[228] = 1.0; - out_671491409411989589[229] = 0.0; - out_671491409411989589[230] = 0.0; - out_671491409411989589[231] = 0.0; - out_671491409411989589[232] = 0.0; - out_671491409411989589[233] = 0.0; - out_671491409411989589[234] = 0.0; - out_671491409411989589[235] = 0.0; - out_671491409411989589[236] = 0.0; - out_671491409411989589[237] = 0.0; - out_671491409411989589[238] = 0.0; - out_671491409411989589[239] = 0.0; - out_671491409411989589[240] = 0.0; - out_671491409411989589[241] = 0.0; - out_671491409411989589[242] = 0.0; - out_671491409411989589[243] = 0.0; - out_671491409411989589[244] = 0.0; - out_671491409411989589[245] = 0.0; - out_671491409411989589[246] = 0.0; - out_671491409411989589[247] = 1.0; - out_671491409411989589[248] = 0.0; - out_671491409411989589[249] = 0.0; - out_671491409411989589[250] = 0.0; - out_671491409411989589[251] = 0.0; - out_671491409411989589[252] = 0.0; - out_671491409411989589[253] = 0.0; - out_671491409411989589[254] = 0.0; - out_671491409411989589[255] = 0.0; - out_671491409411989589[256] = 0.0; - out_671491409411989589[257] = 0.0; - out_671491409411989589[258] = 0.0; - out_671491409411989589[259] = 0.0; - out_671491409411989589[260] = 0.0; - out_671491409411989589[261] = 0.0; - out_671491409411989589[262] = 0.0; - out_671491409411989589[263] = 0.0; - out_671491409411989589[264] = 0.0; - out_671491409411989589[265] = 0.0; - out_671491409411989589[266] = 1.0; - out_671491409411989589[267] = 0.0; - out_671491409411989589[268] = 0.0; - out_671491409411989589[269] = 0.0; - out_671491409411989589[270] = 0.0; - out_671491409411989589[271] = 0.0; - out_671491409411989589[272] = 0.0; - out_671491409411989589[273] = 0.0; - out_671491409411989589[274] = 0.0; - out_671491409411989589[275] = 0.0; - out_671491409411989589[276] = 0.0; - out_671491409411989589[277] = 0.0; - out_671491409411989589[278] = 0.0; - out_671491409411989589[279] = 0.0; - out_671491409411989589[280] = 0.0; - out_671491409411989589[281] = 0.0; - out_671491409411989589[282] = 0.0; - out_671491409411989589[283] = 0.0; - out_671491409411989589[284] = 0.0; - out_671491409411989589[285] = 1.0; - out_671491409411989589[286] = 0.0; - out_671491409411989589[287] = 0.0; - out_671491409411989589[288] = 0.0; - out_671491409411989589[289] = 0.0; - out_671491409411989589[290] = 0.0; - out_671491409411989589[291] = 0.0; - out_671491409411989589[292] = 0.0; - out_671491409411989589[293] = 0.0; - out_671491409411989589[294] = 0.0; - out_671491409411989589[295] = 0.0; - out_671491409411989589[296] = 0.0; - out_671491409411989589[297] = 0.0; - out_671491409411989589[298] = 0.0; - out_671491409411989589[299] = 0.0; - out_671491409411989589[300] = 0.0; - out_671491409411989589[301] = 0.0; - out_671491409411989589[302] = 0.0; - out_671491409411989589[303] = 0.0; - out_671491409411989589[304] = 1.0; - out_671491409411989589[305] = 0.0; - out_671491409411989589[306] = 0.0; - out_671491409411989589[307] = 0.0; - out_671491409411989589[308] = 0.0; - out_671491409411989589[309] = 0.0; - out_671491409411989589[310] = 0.0; - out_671491409411989589[311] = 0.0; - out_671491409411989589[312] = 0.0; - out_671491409411989589[313] = 0.0; - out_671491409411989589[314] = 0.0; - out_671491409411989589[315] = 0.0; - out_671491409411989589[316] = 0.0; - out_671491409411989589[317] = 0.0; - out_671491409411989589[318] = 0.0; - out_671491409411989589[319] = 0.0; - out_671491409411989589[320] = 0.0; - out_671491409411989589[321] = 0.0; - out_671491409411989589[322] = 0.0; - out_671491409411989589[323] = 1.0; +void H_mod_fun(double *state, double *out_8844892526159179063) { + out_8844892526159179063[0] = 1.0; + out_8844892526159179063[1] = 0.0; + out_8844892526159179063[2] = 0.0; + out_8844892526159179063[3] = 0.0; + out_8844892526159179063[4] = 0.0; + out_8844892526159179063[5] = 0.0; + out_8844892526159179063[6] = 0.0; + out_8844892526159179063[7] = 0.0; + out_8844892526159179063[8] = 0.0; + out_8844892526159179063[9] = 0.0; + out_8844892526159179063[10] = 0.0; + out_8844892526159179063[11] = 0.0; + out_8844892526159179063[12] = 0.0; + out_8844892526159179063[13] = 0.0; + out_8844892526159179063[14] = 0.0; + out_8844892526159179063[15] = 0.0; + out_8844892526159179063[16] = 0.0; + out_8844892526159179063[17] = 0.0; + out_8844892526159179063[18] = 0.0; + out_8844892526159179063[19] = 1.0; + out_8844892526159179063[20] = 0.0; + out_8844892526159179063[21] = 0.0; + out_8844892526159179063[22] = 0.0; + out_8844892526159179063[23] = 0.0; + out_8844892526159179063[24] = 0.0; + out_8844892526159179063[25] = 0.0; + out_8844892526159179063[26] = 0.0; + out_8844892526159179063[27] = 0.0; + out_8844892526159179063[28] = 0.0; + out_8844892526159179063[29] = 0.0; + out_8844892526159179063[30] = 0.0; + out_8844892526159179063[31] = 0.0; + out_8844892526159179063[32] = 0.0; + out_8844892526159179063[33] = 0.0; + out_8844892526159179063[34] = 0.0; + out_8844892526159179063[35] = 0.0; + out_8844892526159179063[36] = 0.0; + out_8844892526159179063[37] = 0.0; + out_8844892526159179063[38] = 1.0; + out_8844892526159179063[39] = 0.0; + out_8844892526159179063[40] = 0.0; + out_8844892526159179063[41] = 0.0; + out_8844892526159179063[42] = 0.0; + out_8844892526159179063[43] = 0.0; + out_8844892526159179063[44] = 0.0; + out_8844892526159179063[45] = 0.0; + out_8844892526159179063[46] = 0.0; + out_8844892526159179063[47] = 0.0; + out_8844892526159179063[48] = 0.0; + out_8844892526159179063[49] = 0.0; + out_8844892526159179063[50] = 0.0; + out_8844892526159179063[51] = 0.0; + out_8844892526159179063[52] = 0.0; + out_8844892526159179063[53] = 0.0; + out_8844892526159179063[54] = 0.0; + out_8844892526159179063[55] = 0.0; + out_8844892526159179063[56] = 0.0; + out_8844892526159179063[57] = 1.0; + out_8844892526159179063[58] = 0.0; + out_8844892526159179063[59] = 0.0; + out_8844892526159179063[60] = 0.0; + out_8844892526159179063[61] = 0.0; + out_8844892526159179063[62] = 0.0; + out_8844892526159179063[63] = 0.0; + out_8844892526159179063[64] = 0.0; + out_8844892526159179063[65] = 0.0; + out_8844892526159179063[66] = 0.0; + out_8844892526159179063[67] = 0.0; + out_8844892526159179063[68] = 0.0; + out_8844892526159179063[69] = 0.0; + out_8844892526159179063[70] = 0.0; + out_8844892526159179063[71] = 0.0; + out_8844892526159179063[72] = 0.0; + out_8844892526159179063[73] = 0.0; + out_8844892526159179063[74] = 0.0; + out_8844892526159179063[75] = 0.0; + out_8844892526159179063[76] = 1.0; + out_8844892526159179063[77] = 0.0; + out_8844892526159179063[78] = 0.0; + out_8844892526159179063[79] = 0.0; + out_8844892526159179063[80] = 0.0; + out_8844892526159179063[81] = 0.0; + out_8844892526159179063[82] = 0.0; + out_8844892526159179063[83] = 0.0; + out_8844892526159179063[84] = 0.0; + out_8844892526159179063[85] = 0.0; + out_8844892526159179063[86] = 0.0; + out_8844892526159179063[87] = 0.0; + out_8844892526159179063[88] = 0.0; + out_8844892526159179063[89] = 0.0; + out_8844892526159179063[90] = 0.0; + out_8844892526159179063[91] = 0.0; + out_8844892526159179063[92] = 0.0; + out_8844892526159179063[93] = 0.0; + out_8844892526159179063[94] = 0.0; + out_8844892526159179063[95] = 1.0; + out_8844892526159179063[96] = 0.0; + out_8844892526159179063[97] = 0.0; + out_8844892526159179063[98] = 0.0; + out_8844892526159179063[99] = 0.0; + out_8844892526159179063[100] = 0.0; + out_8844892526159179063[101] = 0.0; + out_8844892526159179063[102] = 0.0; + out_8844892526159179063[103] = 0.0; + out_8844892526159179063[104] = 0.0; + out_8844892526159179063[105] = 0.0; + out_8844892526159179063[106] = 0.0; + out_8844892526159179063[107] = 0.0; + out_8844892526159179063[108] = 0.0; + out_8844892526159179063[109] = 0.0; + out_8844892526159179063[110] = 0.0; + out_8844892526159179063[111] = 0.0; + out_8844892526159179063[112] = 0.0; + out_8844892526159179063[113] = 0.0; + out_8844892526159179063[114] = 1.0; + out_8844892526159179063[115] = 0.0; + out_8844892526159179063[116] = 0.0; + out_8844892526159179063[117] = 0.0; + out_8844892526159179063[118] = 0.0; + out_8844892526159179063[119] = 0.0; + out_8844892526159179063[120] = 0.0; + out_8844892526159179063[121] = 0.0; + out_8844892526159179063[122] = 0.0; + out_8844892526159179063[123] = 0.0; + out_8844892526159179063[124] = 0.0; + out_8844892526159179063[125] = 0.0; + out_8844892526159179063[126] = 0.0; + out_8844892526159179063[127] = 0.0; + out_8844892526159179063[128] = 0.0; + out_8844892526159179063[129] = 0.0; + out_8844892526159179063[130] = 0.0; + out_8844892526159179063[131] = 0.0; + out_8844892526159179063[132] = 0.0; + out_8844892526159179063[133] = 1.0; + out_8844892526159179063[134] = 0.0; + out_8844892526159179063[135] = 0.0; + out_8844892526159179063[136] = 0.0; + out_8844892526159179063[137] = 0.0; + out_8844892526159179063[138] = 0.0; + out_8844892526159179063[139] = 0.0; + out_8844892526159179063[140] = 0.0; + out_8844892526159179063[141] = 0.0; + out_8844892526159179063[142] = 0.0; + out_8844892526159179063[143] = 0.0; + out_8844892526159179063[144] = 0.0; + out_8844892526159179063[145] = 0.0; + out_8844892526159179063[146] = 0.0; + out_8844892526159179063[147] = 0.0; + out_8844892526159179063[148] = 0.0; + out_8844892526159179063[149] = 0.0; + out_8844892526159179063[150] = 0.0; + out_8844892526159179063[151] = 0.0; + out_8844892526159179063[152] = 1.0; + out_8844892526159179063[153] = 0.0; + out_8844892526159179063[154] = 0.0; + out_8844892526159179063[155] = 0.0; + out_8844892526159179063[156] = 0.0; + out_8844892526159179063[157] = 0.0; + out_8844892526159179063[158] = 0.0; + out_8844892526159179063[159] = 0.0; + out_8844892526159179063[160] = 0.0; + out_8844892526159179063[161] = 0.0; + out_8844892526159179063[162] = 0.0; + out_8844892526159179063[163] = 0.0; + out_8844892526159179063[164] = 0.0; + out_8844892526159179063[165] = 0.0; + out_8844892526159179063[166] = 0.0; + out_8844892526159179063[167] = 0.0; + out_8844892526159179063[168] = 0.0; + out_8844892526159179063[169] = 0.0; + out_8844892526159179063[170] = 0.0; + out_8844892526159179063[171] = 1.0; + out_8844892526159179063[172] = 0.0; + out_8844892526159179063[173] = 0.0; + out_8844892526159179063[174] = 0.0; + out_8844892526159179063[175] = 0.0; + out_8844892526159179063[176] = 0.0; + out_8844892526159179063[177] = 0.0; + out_8844892526159179063[178] = 0.0; + out_8844892526159179063[179] = 0.0; + out_8844892526159179063[180] = 0.0; + out_8844892526159179063[181] = 0.0; + out_8844892526159179063[182] = 0.0; + out_8844892526159179063[183] = 0.0; + out_8844892526159179063[184] = 0.0; + out_8844892526159179063[185] = 0.0; + out_8844892526159179063[186] = 0.0; + out_8844892526159179063[187] = 0.0; + out_8844892526159179063[188] = 0.0; + out_8844892526159179063[189] = 0.0; + out_8844892526159179063[190] = 1.0; + out_8844892526159179063[191] = 0.0; + out_8844892526159179063[192] = 0.0; + out_8844892526159179063[193] = 0.0; + out_8844892526159179063[194] = 0.0; + out_8844892526159179063[195] = 0.0; + out_8844892526159179063[196] = 0.0; + out_8844892526159179063[197] = 0.0; + out_8844892526159179063[198] = 0.0; + out_8844892526159179063[199] = 0.0; + out_8844892526159179063[200] = 0.0; + out_8844892526159179063[201] = 0.0; + out_8844892526159179063[202] = 0.0; + out_8844892526159179063[203] = 0.0; + out_8844892526159179063[204] = 0.0; + out_8844892526159179063[205] = 0.0; + out_8844892526159179063[206] = 0.0; + out_8844892526159179063[207] = 0.0; + out_8844892526159179063[208] = 0.0; + out_8844892526159179063[209] = 1.0; + out_8844892526159179063[210] = 0.0; + out_8844892526159179063[211] = 0.0; + out_8844892526159179063[212] = 0.0; + out_8844892526159179063[213] = 0.0; + out_8844892526159179063[214] = 0.0; + out_8844892526159179063[215] = 0.0; + out_8844892526159179063[216] = 0.0; + out_8844892526159179063[217] = 0.0; + out_8844892526159179063[218] = 0.0; + out_8844892526159179063[219] = 0.0; + out_8844892526159179063[220] = 0.0; + out_8844892526159179063[221] = 0.0; + out_8844892526159179063[222] = 0.0; + out_8844892526159179063[223] = 0.0; + out_8844892526159179063[224] = 0.0; + out_8844892526159179063[225] = 0.0; + out_8844892526159179063[226] = 0.0; + out_8844892526159179063[227] = 0.0; + out_8844892526159179063[228] = 1.0; + out_8844892526159179063[229] = 0.0; + out_8844892526159179063[230] = 0.0; + out_8844892526159179063[231] = 0.0; + out_8844892526159179063[232] = 0.0; + out_8844892526159179063[233] = 0.0; + out_8844892526159179063[234] = 0.0; + out_8844892526159179063[235] = 0.0; + out_8844892526159179063[236] = 0.0; + out_8844892526159179063[237] = 0.0; + out_8844892526159179063[238] = 0.0; + out_8844892526159179063[239] = 0.0; + out_8844892526159179063[240] = 0.0; + out_8844892526159179063[241] = 0.0; + out_8844892526159179063[242] = 0.0; + out_8844892526159179063[243] = 0.0; + out_8844892526159179063[244] = 0.0; + out_8844892526159179063[245] = 0.0; + out_8844892526159179063[246] = 0.0; + out_8844892526159179063[247] = 1.0; + out_8844892526159179063[248] = 0.0; + out_8844892526159179063[249] = 0.0; + out_8844892526159179063[250] = 0.0; + out_8844892526159179063[251] = 0.0; + out_8844892526159179063[252] = 0.0; + out_8844892526159179063[253] = 0.0; + out_8844892526159179063[254] = 0.0; + out_8844892526159179063[255] = 0.0; + out_8844892526159179063[256] = 0.0; + out_8844892526159179063[257] = 0.0; + out_8844892526159179063[258] = 0.0; + out_8844892526159179063[259] = 0.0; + out_8844892526159179063[260] = 0.0; + out_8844892526159179063[261] = 0.0; + out_8844892526159179063[262] = 0.0; + out_8844892526159179063[263] = 0.0; + out_8844892526159179063[264] = 0.0; + out_8844892526159179063[265] = 0.0; + out_8844892526159179063[266] = 1.0; + out_8844892526159179063[267] = 0.0; + out_8844892526159179063[268] = 0.0; + out_8844892526159179063[269] = 0.0; + out_8844892526159179063[270] = 0.0; + out_8844892526159179063[271] = 0.0; + out_8844892526159179063[272] = 0.0; + out_8844892526159179063[273] = 0.0; + out_8844892526159179063[274] = 0.0; + out_8844892526159179063[275] = 0.0; + out_8844892526159179063[276] = 0.0; + out_8844892526159179063[277] = 0.0; + out_8844892526159179063[278] = 0.0; + out_8844892526159179063[279] = 0.0; + out_8844892526159179063[280] = 0.0; + out_8844892526159179063[281] = 0.0; + out_8844892526159179063[282] = 0.0; + out_8844892526159179063[283] = 0.0; + out_8844892526159179063[284] = 0.0; + out_8844892526159179063[285] = 1.0; + out_8844892526159179063[286] = 0.0; + out_8844892526159179063[287] = 0.0; + out_8844892526159179063[288] = 0.0; + out_8844892526159179063[289] = 0.0; + out_8844892526159179063[290] = 0.0; + out_8844892526159179063[291] = 0.0; + out_8844892526159179063[292] = 0.0; + out_8844892526159179063[293] = 0.0; + out_8844892526159179063[294] = 0.0; + out_8844892526159179063[295] = 0.0; + out_8844892526159179063[296] = 0.0; + out_8844892526159179063[297] = 0.0; + out_8844892526159179063[298] = 0.0; + out_8844892526159179063[299] = 0.0; + out_8844892526159179063[300] = 0.0; + out_8844892526159179063[301] = 0.0; + out_8844892526159179063[302] = 0.0; + out_8844892526159179063[303] = 0.0; + out_8844892526159179063[304] = 1.0; + out_8844892526159179063[305] = 0.0; + out_8844892526159179063[306] = 0.0; + out_8844892526159179063[307] = 0.0; + out_8844892526159179063[308] = 0.0; + out_8844892526159179063[309] = 0.0; + out_8844892526159179063[310] = 0.0; + out_8844892526159179063[311] = 0.0; + out_8844892526159179063[312] = 0.0; + out_8844892526159179063[313] = 0.0; + out_8844892526159179063[314] = 0.0; + out_8844892526159179063[315] = 0.0; + out_8844892526159179063[316] = 0.0; + out_8844892526159179063[317] = 0.0; + out_8844892526159179063[318] = 0.0; + out_8844892526159179063[319] = 0.0; + out_8844892526159179063[320] = 0.0; + out_8844892526159179063[321] = 0.0; + out_8844892526159179063[322] = 0.0; + out_8844892526159179063[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7919031781502386377) { - out_7919031781502386377[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_7919031781502386377[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_7919031781502386377[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_7919031781502386377[3] = dt*state[12] + state[3]; - out_7919031781502386377[4] = dt*state[13] + state[4]; - out_7919031781502386377[5] = dt*state[14] + state[5]; - out_7919031781502386377[6] = state[6]; - out_7919031781502386377[7] = state[7]; - out_7919031781502386377[8] = state[8]; - out_7919031781502386377[9] = state[9]; - out_7919031781502386377[10] = state[10]; - out_7919031781502386377[11] = state[11]; - out_7919031781502386377[12] = state[12]; - out_7919031781502386377[13] = state[13]; - out_7919031781502386377[14] = state[14]; - out_7919031781502386377[15] = state[15]; - out_7919031781502386377[16] = state[16]; - out_7919031781502386377[17] = state[17]; +void f_fun(double *state, double dt, double *out_8367001063557654494) { + out_8367001063557654494[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_8367001063557654494[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_8367001063557654494[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_8367001063557654494[3] = dt*state[12] + state[3]; + out_8367001063557654494[4] = dt*state[13] + state[4]; + out_8367001063557654494[5] = dt*state[14] + state[5]; + out_8367001063557654494[6] = state[6]; + out_8367001063557654494[7] = state[7]; + out_8367001063557654494[8] = state[8]; + out_8367001063557654494[9] = state[9]; + out_8367001063557654494[10] = state[10]; + out_8367001063557654494[11] = state[11]; + out_8367001063557654494[12] = state[12]; + out_8367001063557654494[13] = state[13]; + out_8367001063557654494[14] = state[14]; + out_8367001063557654494[15] = state[15]; + out_8367001063557654494[16] = state[16]; + out_8367001063557654494[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7380360880106775220) { - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[2] = 0; - out_7380360880106775220[3] = 0; - out_7380360880106775220[4] = 0; - out_7380360880106775220[5] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[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_7380360880106775220[9] = 0; - out_7380360880106775220[10] = 0; - out_7380360880106775220[11] = 0; - out_7380360880106775220[12] = 0; - out_7380360880106775220[13] = 0; - out_7380360880106775220[14] = 0; - out_7380360880106775220[15] = 0; - out_7380360880106775220[16] = 0; - out_7380360880106775220[17] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[20] = 0; - out_7380360880106775220[21] = 0; - out_7380360880106775220[22] = 0; - out_7380360880106775220[23] = 0; - out_7380360880106775220[24] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[27] = 0; - out_7380360880106775220[28] = 0; - out_7380360880106775220[29] = 0; - out_7380360880106775220[30] = 0; - out_7380360880106775220[31] = 0; - out_7380360880106775220[32] = 0; - out_7380360880106775220[33] = 0; - out_7380360880106775220[34] = 0; - out_7380360880106775220[35] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[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_7380360880106775220[39] = 0; - out_7380360880106775220[40] = 0; - out_7380360880106775220[41] = 0; - out_7380360880106775220[42] = 0; - out_7380360880106775220[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_7380360880106775220[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_7380360880106775220[45] = 0; - out_7380360880106775220[46] = 0; - out_7380360880106775220[47] = 0; - out_7380360880106775220[48] = 0; - out_7380360880106775220[49] = 0; - out_7380360880106775220[50] = 0; - out_7380360880106775220[51] = 0; - out_7380360880106775220[52] = 0; - out_7380360880106775220[53] = 0; - out_7380360880106775220[54] = 0; - out_7380360880106775220[55] = 0; - out_7380360880106775220[56] = 0; - out_7380360880106775220[57] = 1; - out_7380360880106775220[58] = 0; - out_7380360880106775220[59] = 0; - out_7380360880106775220[60] = 0; - out_7380360880106775220[61] = 0; - out_7380360880106775220[62] = 0; - out_7380360880106775220[63] = 0; - out_7380360880106775220[64] = 0; - out_7380360880106775220[65] = 0; - out_7380360880106775220[66] = dt; - out_7380360880106775220[67] = 0; - out_7380360880106775220[68] = 0; - out_7380360880106775220[69] = 0; - out_7380360880106775220[70] = 0; - out_7380360880106775220[71] = 0; - out_7380360880106775220[72] = 0; - out_7380360880106775220[73] = 0; - out_7380360880106775220[74] = 0; - out_7380360880106775220[75] = 0; - out_7380360880106775220[76] = 1; - out_7380360880106775220[77] = 0; - out_7380360880106775220[78] = 0; - out_7380360880106775220[79] = 0; - out_7380360880106775220[80] = 0; - out_7380360880106775220[81] = 0; - out_7380360880106775220[82] = 0; - out_7380360880106775220[83] = 0; - out_7380360880106775220[84] = 0; - out_7380360880106775220[85] = dt; - out_7380360880106775220[86] = 0; - out_7380360880106775220[87] = 0; - out_7380360880106775220[88] = 0; - out_7380360880106775220[89] = 0; - out_7380360880106775220[90] = 0; - out_7380360880106775220[91] = 0; - out_7380360880106775220[92] = 0; - out_7380360880106775220[93] = 0; - out_7380360880106775220[94] = 0; - out_7380360880106775220[95] = 1; - out_7380360880106775220[96] = 0; - out_7380360880106775220[97] = 0; - out_7380360880106775220[98] = 0; - out_7380360880106775220[99] = 0; - out_7380360880106775220[100] = 0; - out_7380360880106775220[101] = 0; - out_7380360880106775220[102] = 0; - out_7380360880106775220[103] = 0; - out_7380360880106775220[104] = dt; - out_7380360880106775220[105] = 0; - out_7380360880106775220[106] = 0; - out_7380360880106775220[107] = 0; - out_7380360880106775220[108] = 0; - out_7380360880106775220[109] = 0; - out_7380360880106775220[110] = 0; - out_7380360880106775220[111] = 0; - out_7380360880106775220[112] = 0; - out_7380360880106775220[113] = 0; - out_7380360880106775220[114] = 1; - out_7380360880106775220[115] = 0; - out_7380360880106775220[116] = 0; - out_7380360880106775220[117] = 0; - out_7380360880106775220[118] = 0; - out_7380360880106775220[119] = 0; - out_7380360880106775220[120] = 0; - out_7380360880106775220[121] = 0; - out_7380360880106775220[122] = 0; - out_7380360880106775220[123] = 0; - out_7380360880106775220[124] = 0; - out_7380360880106775220[125] = 0; - out_7380360880106775220[126] = 0; - out_7380360880106775220[127] = 0; - out_7380360880106775220[128] = 0; - out_7380360880106775220[129] = 0; - out_7380360880106775220[130] = 0; - out_7380360880106775220[131] = 0; - out_7380360880106775220[132] = 0; - out_7380360880106775220[133] = 1; - out_7380360880106775220[134] = 0; - out_7380360880106775220[135] = 0; - out_7380360880106775220[136] = 0; - out_7380360880106775220[137] = 0; - out_7380360880106775220[138] = 0; - out_7380360880106775220[139] = 0; - out_7380360880106775220[140] = 0; - out_7380360880106775220[141] = 0; - out_7380360880106775220[142] = 0; - out_7380360880106775220[143] = 0; - out_7380360880106775220[144] = 0; - out_7380360880106775220[145] = 0; - out_7380360880106775220[146] = 0; - out_7380360880106775220[147] = 0; - out_7380360880106775220[148] = 0; - out_7380360880106775220[149] = 0; - out_7380360880106775220[150] = 0; - out_7380360880106775220[151] = 0; - out_7380360880106775220[152] = 1; - out_7380360880106775220[153] = 0; - out_7380360880106775220[154] = 0; - out_7380360880106775220[155] = 0; - out_7380360880106775220[156] = 0; - out_7380360880106775220[157] = 0; - out_7380360880106775220[158] = 0; - out_7380360880106775220[159] = 0; - out_7380360880106775220[160] = 0; - out_7380360880106775220[161] = 0; - out_7380360880106775220[162] = 0; - out_7380360880106775220[163] = 0; - out_7380360880106775220[164] = 0; - out_7380360880106775220[165] = 0; - out_7380360880106775220[166] = 0; - out_7380360880106775220[167] = 0; - out_7380360880106775220[168] = 0; - out_7380360880106775220[169] = 0; - out_7380360880106775220[170] = 0; - out_7380360880106775220[171] = 1; - out_7380360880106775220[172] = 0; - out_7380360880106775220[173] = 0; - out_7380360880106775220[174] = 0; - out_7380360880106775220[175] = 0; - out_7380360880106775220[176] = 0; - out_7380360880106775220[177] = 0; - out_7380360880106775220[178] = 0; - out_7380360880106775220[179] = 0; - out_7380360880106775220[180] = 0; - out_7380360880106775220[181] = 0; - out_7380360880106775220[182] = 0; - out_7380360880106775220[183] = 0; - out_7380360880106775220[184] = 0; - out_7380360880106775220[185] = 0; - out_7380360880106775220[186] = 0; - out_7380360880106775220[187] = 0; - out_7380360880106775220[188] = 0; - out_7380360880106775220[189] = 0; - out_7380360880106775220[190] = 1; - out_7380360880106775220[191] = 0; - out_7380360880106775220[192] = 0; - out_7380360880106775220[193] = 0; - out_7380360880106775220[194] = 0; - out_7380360880106775220[195] = 0; - out_7380360880106775220[196] = 0; - out_7380360880106775220[197] = 0; - out_7380360880106775220[198] = 0; - out_7380360880106775220[199] = 0; - out_7380360880106775220[200] = 0; - out_7380360880106775220[201] = 0; - out_7380360880106775220[202] = 0; - out_7380360880106775220[203] = 0; - out_7380360880106775220[204] = 0; - out_7380360880106775220[205] = 0; - out_7380360880106775220[206] = 0; - out_7380360880106775220[207] = 0; - out_7380360880106775220[208] = 0; - out_7380360880106775220[209] = 1; - out_7380360880106775220[210] = 0; - out_7380360880106775220[211] = 0; - out_7380360880106775220[212] = 0; - out_7380360880106775220[213] = 0; - out_7380360880106775220[214] = 0; - out_7380360880106775220[215] = 0; - out_7380360880106775220[216] = 0; - out_7380360880106775220[217] = 0; - out_7380360880106775220[218] = 0; - out_7380360880106775220[219] = 0; - out_7380360880106775220[220] = 0; - out_7380360880106775220[221] = 0; - out_7380360880106775220[222] = 0; - out_7380360880106775220[223] = 0; - out_7380360880106775220[224] = 0; - out_7380360880106775220[225] = 0; - out_7380360880106775220[226] = 0; - out_7380360880106775220[227] = 0; - out_7380360880106775220[228] = 1; - out_7380360880106775220[229] = 0; - out_7380360880106775220[230] = 0; - out_7380360880106775220[231] = 0; - out_7380360880106775220[232] = 0; - out_7380360880106775220[233] = 0; - out_7380360880106775220[234] = 0; - out_7380360880106775220[235] = 0; - out_7380360880106775220[236] = 0; - out_7380360880106775220[237] = 0; - out_7380360880106775220[238] = 0; - out_7380360880106775220[239] = 0; - out_7380360880106775220[240] = 0; - out_7380360880106775220[241] = 0; - out_7380360880106775220[242] = 0; - out_7380360880106775220[243] = 0; - out_7380360880106775220[244] = 0; - out_7380360880106775220[245] = 0; - out_7380360880106775220[246] = 0; - out_7380360880106775220[247] = 1; - out_7380360880106775220[248] = 0; - out_7380360880106775220[249] = 0; - out_7380360880106775220[250] = 0; - out_7380360880106775220[251] = 0; - out_7380360880106775220[252] = 0; - out_7380360880106775220[253] = 0; - out_7380360880106775220[254] = 0; - out_7380360880106775220[255] = 0; - out_7380360880106775220[256] = 0; - out_7380360880106775220[257] = 0; - out_7380360880106775220[258] = 0; - out_7380360880106775220[259] = 0; - out_7380360880106775220[260] = 0; - out_7380360880106775220[261] = 0; - out_7380360880106775220[262] = 0; - out_7380360880106775220[263] = 0; - out_7380360880106775220[264] = 0; - out_7380360880106775220[265] = 0; - out_7380360880106775220[266] = 1; - out_7380360880106775220[267] = 0; - out_7380360880106775220[268] = 0; - out_7380360880106775220[269] = 0; - out_7380360880106775220[270] = 0; - out_7380360880106775220[271] = 0; - out_7380360880106775220[272] = 0; - out_7380360880106775220[273] = 0; - out_7380360880106775220[274] = 0; - out_7380360880106775220[275] = 0; - out_7380360880106775220[276] = 0; - out_7380360880106775220[277] = 0; - out_7380360880106775220[278] = 0; - out_7380360880106775220[279] = 0; - out_7380360880106775220[280] = 0; - out_7380360880106775220[281] = 0; - out_7380360880106775220[282] = 0; - out_7380360880106775220[283] = 0; - out_7380360880106775220[284] = 0; - out_7380360880106775220[285] = 1; - out_7380360880106775220[286] = 0; - out_7380360880106775220[287] = 0; - out_7380360880106775220[288] = 0; - out_7380360880106775220[289] = 0; - out_7380360880106775220[290] = 0; - out_7380360880106775220[291] = 0; - out_7380360880106775220[292] = 0; - out_7380360880106775220[293] = 0; - out_7380360880106775220[294] = 0; - out_7380360880106775220[295] = 0; - out_7380360880106775220[296] = 0; - out_7380360880106775220[297] = 0; - out_7380360880106775220[298] = 0; - out_7380360880106775220[299] = 0; - out_7380360880106775220[300] = 0; - out_7380360880106775220[301] = 0; - out_7380360880106775220[302] = 0; - out_7380360880106775220[303] = 0; - out_7380360880106775220[304] = 1; - out_7380360880106775220[305] = 0; - out_7380360880106775220[306] = 0; - out_7380360880106775220[307] = 0; - out_7380360880106775220[308] = 0; - out_7380360880106775220[309] = 0; - out_7380360880106775220[310] = 0; - out_7380360880106775220[311] = 0; - out_7380360880106775220[312] = 0; - out_7380360880106775220[313] = 0; - out_7380360880106775220[314] = 0; - out_7380360880106775220[315] = 0; - out_7380360880106775220[316] = 0; - out_7380360880106775220[317] = 0; - out_7380360880106775220[318] = 0; - out_7380360880106775220[319] = 0; - out_7380360880106775220[320] = 0; - out_7380360880106775220[321] = 0; - out_7380360880106775220[322] = 0; - out_7380360880106775220[323] = 1; +void F_fun(double *state, double dt, double *out_2658931498525825673) { + out_2658931498525825673[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_2658931498525825673[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_2658931498525825673[2] = 0; + out_2658931498525825673[3] = 0; + out_2658931498525825673[4] = 0; + out_2658931498525825673[5] = 0; + out_2658931498525825673[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_2658931498525825673[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_2658931498525825673[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_2658931498525825673[9] = 0; + out_2658931498525825673[10] = 0; + out_2658931498525825673[11] = 0; + out_2658931498525825673[12] = 0; + out_2658931498525825673[13] = 0; + out_2658931498525825673[14] = 0; + out_2658931498525825673[15] = 0; + out_2658931498525825673[16] = 0; + out_2658931498525825673[17] = 0; + out_2658931498525825673[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_2658931498525825673[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_2658931498525825673[20] = 0; + out_2658931498525825673[21] = 0; + out_2658931498525825673[22] = 0; + out_2658931498525825673[23] = 0; + out_2658931498525825673[24] = 0; + out_2658931498525825673[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_2658931498525825673[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_2658931498525825673[27] = 0; + out_2658931498525825673[28] = 0; + out_2658931498525825673[29] = 0; + out_2658931498525825673[30] = 0; + out_2658931498525825673[31] = 0; + out_2658931498525825673[32] = 0; + out_2658931498525825673[33] = 0; + out_2658931498525825673[34] = 0; + out_2658931498525825673[35] = 0; + out_2658931498525825673[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_2658931498525825673[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_2658931498525825673[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_2658931498525825673[39] = 0; + out_2658931498525825673[40] = 0; + out_2658931498525825673[41] = 0; + out_2658931498525825673[42] = 0; + out_2658931498525825673[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_2658931498525825673[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_2658931498525825673[45] = 0; + out_2658931498525825673[46] = 0; + out_2658931498525825673[47] = 0; + out_2658931498525825673[48] = 0; + out_2658931498525825673[49] = 0; + out_2658931498525825673[50] = 0; + out_2658931498525825673[51] = 0; + out_2658931498525825673[52] = 0; + out_2658931498525825673[53] = 0; + out_2658931498525825673[54] = 0; + out_2658931498525825673[55] = 0; + out_2658931498525825673[56] = 0; + out_2658931498525825673[57] = 1; + out_2658931498525825673[58] = 0; + out_2658931498525825673[59] = 0; + out_2658931498525825673[60] = 0; + out_2658931498525825673[61] = 0; + out_2658931498525825673[62] = 0; + out_2658931498525825673[63] = 0; + out_2658931498525825673[64] = 0; + out_2658931498525825673[65] = 0; + out_2658931498525825673[66] = dt; + out_2658931498525825673[67] = 0; + out_2658931498525825673[68] = 0; + out_2658931498525825673[69] = 0; + out_2658931498525825673[70] = 0; + out_2658931498525825673[71] = 0; + out_2658931498525825673[72] = 0; + out_2658931498525825673[73] = 0; + out_2658931498525825673[74] = 0; + out_2658931498525825673[75] = 0; + out_2658931498525825673[76] = 1; + out_2658931498525825673[77] = 0; + out_2658931498525825673[78] = 0; + out_2658931498525825673[79] = 0; + out_2658931498525825673[80] = 0; + out_2658931498525825673[81] = 0; + out_2658931498525825673[82] = 0; + out_2658931498525825673[83] = 0; + out_2658931498525825673[84] = 0; + out_2658931498525825673[85] = dt; + out_2658931498525825673[86] = 0; + out_2658931498525825673[87] = 0; + out_2658931498525825673[88] = 0; + out_2658931498525825673[89] = 0; + out_2658931498525825673[90] = 0; + out_2658931498525825673[91] = 0; + out_2658931498525825673[92] = 0; + out_2658931498525825673[93] = 0; + out_2658931498525825673[94] = 0; + out_2658931498525825673[95] = 1; + out_2658931498525825673[96] = 0; + out_2658931498525825673[97] = 0; + out_2658931498525825673[98] = 0; + out_2658931498525825673[99] = 0; + out_2658931498525825673[100] = 0; + out_2658931498525825673[101] = 0; + out_2658931498525825673[102] = 0; + out_2658931498525825673[103] = 0; + out_2658931498525825673[104] = dt; + out_2658931498525825673[105] = 0; + out_2658931498525825673[106] = 0; + out_2658931498525825673[107] = 0; + out_2658931498525825673[108] = 0; + out_2658931498525825673[109] = 0; + out_2658931498525825673[110] = 0; + out_2658931498525825673[111] = 0; + out_2658931498525825673[112] = 0; + out_2658931498525825673[113] = 0; + out_2658931498525825673[114] = 1; + out_2658931498525825673[115] = 0; + out_2658931498525825673[116] = 0; + out_2658931498525825673[117] = 0; + out_2658931498525825673[118] = 0; + out_2658931498525825673[119] = 0; + out_2658931498525825673[120] = 0; + out_2658931498525825673[121] = 0; + out_2658931498525825673[122] = 0; + out_2658931498525825673[123] = 0; + out_2658931498525825673[124] = 0; + out_2658931498525825673[125] = 0; + out_2658931498525825673[126] = 0; + out_2658931498525825673[127] = 0; + out_2658931498525825673[128] = 0; + out_2658931498525825673[129] = 0; + out_2658931498525825673[130] = 0; + out_2658931498525825673[131] = 0; + out_2658931498525825673[132] = 0; + out_2658931498525825673[133] = 1; + out_2658931498525825673[134] = 0; + out_2658931498525825673[135] = 0; + out_2658931498525825673[136] = 0; + out_2658931498525825673[137] = 0; + out_2658931498525825673[138] = 0; + out_2658931498525825673[139] = 0; + out_2658931498525825673[140] = 0; + out_2658931498525825673[141] = 0; + out_2658931498525825673[142] = 0; + out_2658931498525825673[143] = 0; + out_2658931498525825673[144] = 0; + out_2658931498525825673[145] = 0; + out_2658931498525825673[146] = 0; + out_2658931498525825673[147] = 0; + out_2658931498525825673[148] = 0; + out_2658931498525825673[149] = 0; + out_2658931498525825673[150] = 0; + out_2658931498525825673[151] = 0; + out_2658931498525825673[152] = 1; + out_2658931498525825673[153] = 0; + out_2658931498525825673[154] = 0; + out_2658931498525825673[155] = 0; + out_2658931498525825673[156] = 0; + out_2658931498525825673[157] = 0; + out_2658931498525825673[158] = 0; + out_2658931498525825673[159] = 0; + out_2658931498525825673[160] = 0; + out_2658931498525825673[161] = 0; + out_2658931498525825673[162] = 0; + out_2658931498525825673[163] = 0; + out_2658931498525825673[164] = 0; + out_2658931498525825673[165] = 0; + out_2658931498525825673[166] = 0; + out_2658931498525825673[167] = 0; + out_2658931498525825673[168] = 0; + out_2658931498525825673[169] = 0; + out_2658931498525825673[170] = 0; + out_2658931498525825673[171] = 1; + out_2658931498525825673[172] = 0; + out_2658931498525825673[173] = 0; + out_2658931498525825673[174] = 0; + out_2658931498525825673[175] = 0; + out_2658931498525825673[176] = 0; + out_2658931498525825673[177] = 0; + out_2658931498525825673[178] = 0; + out_2658931498525825673[179] = 0; + out_2658931498525825673[180] = 0; + out_2658931498525825673[181] = 0; + out_2658931498525825673[182] = 0; + out_2658931498525825673[183] = 0; + out_2658931498525825673[184] = 0; + out_2658931498525825673[185] = 0; + out_2658931498525825673[186] = 0; + out_2658931498525825673[187] = 0; + out_2658931498525825673[188] = 0; + out_2658931498525825673[189] = 0; + out_2658931498525825673[190] = 1; + out_2658931498525825673[191] = 0; + out_2658931498525825673[192] = 0; + out_2658931498525825673[193] = 0; + out_2658931498525825673[194] = 0; + out_2658931498525825673[195] = 0; + out_2658931498525825673[196] = 0; + out_2658931498525825673[197] = 0; + out_2658931498525825673[198] = 0; + out_2658931498525825673[199] = 0; + out_2658931498525825673[200] = 0; + out_2658931498525825673[201] = 0; + out_2658931498525825673[202] = 0; + out_2658931498525825673[203] = 0; + out_2658931498525825673[204] = 0; + out_2658931498525825673[205] = 0; + out_2658931498525825673[206] = 0; + out_2658931498525825673[207] = 0; + out_2658931498525825673[208] = 0; + out_2658931498525825673[209] = 1; + out_2658931498525825673[210] = 0; + out_2658931498525825673[211] = 0; + out_2658931498525825673[212] = 0; + out_2658931498525825673[213] = 0; + out_2658931498525825673[214] = 0; + out_2658931498525825673[215] = 0; + out_2658931498525825673[216] = 0; + out_2658931498525825673[217] = 0; + out_2658931498525825673[218] = 0; + out_2658931498525825673[219] = 0; + out_2658931498525825673[220] = 0; + out_2658931498525825673[221] = 0; + out_2658931498525825673[222] = 0; + out_2658931498525825673[223] = 0; + out_2658931498525825673[224] = 0; + out_2658931498525825673[225] = 0; + out_2658931498525825673[226] = 0; + out_2658931498525825673[227] = 0; + out_2658931498525825673[228] = 1; + out_2658931498525825673[229] = 0; + out_2658931498525825673[230] = 0; + out_2658931498525825673[231] = 0; + out_2658931498525825673[232] = 0; + out_2658931498525825673[233] = 0; + out_2658931498525825673[234] = 0; + out_2658931498525825673[235] = 0; + out_2658931498525825673[236] = 0; + out_2658931498525825673[237] = 0; + out_2658931498525825673[238] = 0; + out_2658931498525825673[239] = 0; + out_2658931498525825673[240] = 0; + out_2658931498525825673[241] = 0; + out_2658931498525825673[242] = 0; + out_2658931498525825673[243] = 0; + out_2658931498525825673[244] = 0; + out_2658931498525825673[245] = 0; + out_2658931498525825673[246] = 0; + out_2658931498525825673[247] = 1; + out_2658931498525825673[248] = 0; + out_2658931498525825673[249] = 0; + out_2658931498525825673[250] = 0; + out_2658931498525825673[251] = 0; + out_2658931498525825673[252] = 0; + out_2658931498525825673[253] = 0; + out_2658931498525825673[254] = 0; + out_2658931498525825673[255] = 0; + out_2658931498525825673[256] = 0; + out_2658931498525825673[257] = 0; + out_2658931498525825673[258] = 0; + out_2658931498525825673[259] = 0; + out_2658931498525825673[260] = 0; + out_2658931498525825673[261] = 0; + out_2658931498525825673[262] = 0; + out_2658931498525825673[263] = 0; + out_2658931498525825673[264] = 0; + out_2658931498525825673[265] = 0; + out_2658931498525825673[266] = 1; + out_2658931498525825673[267] = 0; + out_2658931498525825673[268] = 0; + out_2658931498525825673[269] = 0; + out_2658931498525825673[270] = 0; + out_2658931498525825673[271] = 0; + out_2658931498525825673[272] = 0; + out_2658931498525825673[273] = 0; + out_2658931498525825673[274] = 0; + out_2658931498525825673[275] = 0; + out_2658931498525825673[276] = 0; + out_2658931498525825673[277] = 0; + out_2658931498525825673[278] = 0; + out_2658931498525825673[279] = 0; + out_2658931498525825673[280] = 0; + out_2658931498525825673[281] = 0; + out_2658931498525825673[282] = 0; + out_2658931498525825673[283] = 0; + out_2658931498525825673[284] = 0; + out_2658931498525825673[285] = 1; + out_2658931498525825673[286] = 0; + out_2658931498525825673[287] = 0; + out_2658931498525825673[288] = 0; + out_2658931498525825673[289] = 0; + out_2658931498525825673[290] = 0; + out_2658931498525825673[291] = 0; + out_2658931498525825673[292] = 0; + out_2658931498525825673[293] = 0; + out_2658931498525825673[294] = 0; + out_2658931498525825673[295] = 0; + out_2658931498525825673[296] = 0; + out_2658931498525825673[297] = 0; + out_2658931498525825673[298] = 0; + out_2658931498525825673[299] = 0; + out_2658931498525825673[300] = 0; + out_2658931498525825673[301] = 0; + out_2658931498525825673[302] = 0; + out_2658931498525825673[303] = 0; + out_2658931498525825673[304] = 1; + out_2658931498525825673[305] = 0; + out_2658931498525825673[306] = 0; + out_2658931498525825673[307] = 0; + out_2658931498525825673[308] = 0; + out_2658931498525825673[309] = 0; + out_2658931498525825673[310] = 0; + out_2658931498525825673[311] = 0; + out_2658931498525825673[312] = 0; + out_2658931498525825673[313] = 0; + out_2658931498525825673[314] = 0; + out_2658931498525825673[315] = 0; + out_2658931498525825673[316] = 0; + out_2658931498525825673[317] = 0; + out_2658931498525825673[318] = 0; + out_2658931498525825673[319] = 0; + out_2658931498525825673[320] = 0; + out_2658931498525825673[321] = 0; + out_2658931498525825673[322] = 0; + out_2658931498525825673[323] = 1; } -void h_4(double *state, double *unused, double *out_4702057929225754412) { - out_4702057929225754412[0] = state[6] + state[9]; - out_4702057929225754412[1] = state[7] + state[10]; - out_4702057929225754412[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_84081779949576375) { + out_84081779949576375[0] = state[6] + state[9]; + out_84081779949576375[1] = state[7] + state[10]; + out_84081779949576375[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3100315800431917983) { - out_3100315800431917983[0] = 0; - out_3100315800431917983[1] = 0; - out_3100315800431917983[2] = 0; - out_3100315800431917983[3] = 0; - out_3100315800431917983[4] = 0; - out_3100315800431917983[5] = 0; - out_3100315800431917983[6] = 1; - out_3100315800431917983[7] = 0; - out_3100315800431917983[8] = 0; - out_3100315800431917983[9] = 1; - out_3100315800431917983[10] = 0; - out_3100315800431917983[11] = 0; - out_3100315800431917983[12] = 0; - out_3100315800431917983[13] = 0; - out_3100315800431917983[14] = 0; - out_3100315800431917983[15] = 0; - out_3100315800431917983[16] = 0; - out_3100315800431917983[17] = 0; - out_3100315800431917983[18] = 0; - out_3100315800431917983[19] = 0; - out_3100315800431917983[20] = 0; - out_3100315800431917983[21] = 0; - out_3100315800431917983[22] = 0; - out_3100315800431917983[23] = 0; - out_3100315800431917983[24] = 0; - out_3100315800431917983[25] = 1; - out_3100315800431917983[26] = 0; - out_3100315800431917983[27] = 0; - out_3100315800431917983[28] = 1; - out_3100315800431917983[29] = 0; - out_3100315800431917983[30] = 0; - out_3100315800431917983[31] = 0; - out_3100315800431917983[32] = 0; - out_3100315800431917983[33] = 0; - out_3100315800431917983[34] = 0; - out_3100315800431917983[35] = 0; - out_3100315800431917983[36] = 0; - out_3100315800431917983[37] = 0; - out_3100315800431917983[38] = 0; - out_3100315800431917983[39] = 0; - out_3100315800431917983[40] = 0; - out_3100315800431917983[41] = 0; - out_3100315800431917983[42] = 0; - out_3100315800431917983[43] = 0; - out_3100315800431917983[44] = 1; - out_3100315800431917983[45] = 0; - out_3100315800431917983[46] = 0; - out_3100315800431917983[47] = 1; - out_3100315800431917983[48] = 0; - out_3100315800431917983[49] = 0; - out_3100315800431917983[50] = 0; - out_3100315800431917983[51] = 0; - out_3100315800431917983[52] = 0; - out_3100315800431917983[53] = 0; +void H_4(double *state, double *unused, double *out_7708340643954596463) { + out_7708340643954596463[0] = 0; + out_7708340643954596463[1] = 0; + out_7708340643954596463[2] = 0; + out_7708340643954596463[3] = 0; + out_7708340643954596463[4] = 0; + out_7708340643954596463[5] = 0; + out_7708340643954596463[6] = 1; + out_7708340643954596463[7] = 0; + out_7708340643954596463[8] = 0; + out_7708340643954596463[9] = 1; + out_7708340643954596463[10] = 0; + out_7708340643954596463[11] = 0; + out_7708340643954596463[12] = 0; + out_7708340643954596463[13] = 0; + out_7708340643954596463[14] = 0; + out_7708340643954596463[15] = 0; + out_7708340643954596463[16] = 0; + out_7708340643954596463[17] = 0; + out_7708340643954596463[18] = 0; + out_7708340643954596463[19] = 0; + out_7708340643954596463[20] = 0; + out_7708340643954596463[21] = 0; + out_7708340643954596463[22] = 0; + out_7708340643954596463[23] = 0; + out_7708340643954596463[24] = 0; + out_7708340643954596463[25] = 1; + out_7708340643954596463[26] = 0; + out_7708340643954596463[27] = 0; + out_7708340643954596463[28] = 1; + out_7708340643954596463[29] = 0; + out_7708340643954596463[30] = 0; + out_7708340643954596463[31] = 0; + out_7708340643954596463[32] = 0; + out_7708340643954596463[33] = 0; + out_7708340643954596463[34] = 0; + out_7708340643954596463[35] = 0; + out_7708340643954596463[36] = 0; + out_7708340643954596463[37] = 0; + out_7708340643954596463[38] = 0; + out_7708340643954596463[39] = 0; + out_7708340643954596463[40] = 0; + out_7708340643954596463[41] = 0; + out_7708340643954596463[42] = 0; + out_7708340643954596463[43] = 0; + out_7708340643954596463[44] = 1; + out_7708340643954596463[45] = 0; + out_7708340643954596463[46] = 0; + out_7708340643954596463[47] = 1; + out_7708340643954596463[48] = 0; + out_7708340643954596463[49] = 0; + out_7708340643954596463[50] = 0; + out_7708340643954596463[51] = 0; + out_7708340643954596463[52] = 0; + out_7708340643954596463[53] = 0; } -void h_10(double *state, double *unused, double *out_1901997026290432130) { - out_1901997026290432130[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1901997026290432130[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1901997026290432130[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_7874962955445622717) { + out_7874962955445622717[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7874962955445622717[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7874962955445622717[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_5200655737232907775) { - out_5200655737232907775[0] = 0; - out_5200655737232907775[1] = 9.8100000000000005*cos(state[1]); - out_5200655737232907775[2] = 0; - out_5200655737232907775[3] = 0; - out_5200655737232907775[4] = -state[8]; - out_5200655737232907775[5] = state[7]; - out_5200655737232907775[6] = 0; - out_5200655737232907775[7] = state[5]; - out_5200655737232907775[8] = -state[4]; - out_5200655737232907775[9] = 0; - out_5200655737232907775[10] = 0; - out_5200655737232907775[11] = 0; - out_5200655737232907775[12] = 1; - out_5200655737232907775[13] = 0; - out_5200655737232907775[14] = 0; - out_5200655737232907775[15] = 1; - out_5200655737232907775[16] = 0; - out_5200655737232907775[17] = 0; - out_5200655737232907775[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5200655737232907775[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5200655737232907775[20] = 0; - out_5200655737232907775[21] = state[8]; - out_5200655737232907775[22] = 0; - out_5200655737232907775[23] = -state[6]; - out_5200655737232907775[24] = -state[5]; - out_5200655737232907775[25] = 0; - out_5200655737232907775[26] = state[3]; - out_5200655737232907775[27] = 0; - out_5200655737232907775[28] = 0; - out_5200655737232907775[29] = 0; - out_5200655737232907775[30] = 0; - out_5200655737232907775[31] = 1; - out_5200655737232907775[32] = 0; - out_5200655737232907775[33] = 0; - out_5200655737232907775[34] = 1; - out_5200655737232907775[35] = 0; - out_5200655737232907775[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5200655737232907775[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5200655737232907775[38] = 0; - out_5200655737232907775[39] = -state[7]; - out_5200655737232907775[40] = state[6]; - out_5200655737232907775[41] = 0; - out_5200655737232907775[42] = state[4]; - out_5200655737232907775[43] = -state[3]; - out_5200655737232907775[44] = 0; - out_5200655737232907775[45] = 0; - out_5200655737232907775[46] = 0; - out_5200655737232907775[47] = 0; - out_5200655737232907775[48] = 0; - out_5200655737232907775[49] = 0; - out_5200655737232907775[50] = 1; - out_5200655737232907775[51] = 0; - out_5200655737232907775[52] = 0; - out_5200655737232907775[53] = 1; +void H_10(double *state, double *unused, double *out_8079274030706525455) { + out_8079274030706525455[0] = 0; + out_8079274030706525455[1] = 9.8100000000000005*cos(state[1]); + out_8079274030706525455[2] = 0; + out_8079274030706525455[3] = 0; + out_8079274030706525455[4] = -state[8]; + out_8079274030706525455[5] = state[7]; + out_8079274030706525455[6] = 0; + out_8079274030706525455[7] = state[5]; + out_8079274030706525455[8] = -state[4]; + out_8079274030706525455[9] = 0; + out_8079274030706525455[10] = 0; + out_8079274030706525455[11] = 0; + out_8079274030706525455[12] = 1; + out_8079274030706525455[13] = 0; + out_8079274030706525455[14] = 0; + out_8079274030706525455[15] = 1; + out_8079274030706525455[16] = 0; + out_8079274030706525455[17] = 0; + out_8079274030706525455[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8079274030706525455[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8079274030706525455[20] = 0; + out_8079274030706525455[21] = state[8]; + out_8079274030706525455[22] = 0; + out_8079274030706525455[23] = -state[6]; + out_8079274030706525455[24] = -state[5]; + out_8079274030706525455[25] = 0; + out_8079274030706525455[26] = state[3]; + out_8079274030706525455[27] = 0; + out_8079274030706525455[28] = 0; + out_8079274030706525455[29] = 0; + out_8079274030706525455[30] = 0; + out_8079274030706525455[31] = 1; + out_8079274030706525455[32] = 0; + out_8079274030706525455[33] = 0; + out_8079274030706525455[34] = 1; + out_8079274030706525455[35] = 0; + out_8079274030706525455[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8079274030706525455[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8079274030706525455[38] = 0; + out_8079274030706525455[39] = -state[7]; + out_8079274030706525455[40] = state[6]; + out_8079274030706525455[41] = 0; + out_8079274030706525455[42] = state[4]; + out_8079274030706525455[43] = -state[3]; + out_8079274030706525455[44] = 0; + out_8079274030706525455[45] = 0; + out_8079274030706525455[46] = 0; + out_8079274030706525455[47] = 0; + out_8079274030706525455[48] = 0; + out_8079274030706525455[49] = 0; + out_8079274030706525455[50] = 1; + out_8079274030706525455[51] = 0; + out_8079274030706525455[52] = 0; + out_8079274030706525455[53] = 1; } -void h_13(double *state, double *unused, double *out_6749072148499604094) { - out_6749072148499604094[0] = state[3]; - out_6749072148499604094[1] = state[4]; - out_6749072148499604094[2] = state[5]; +void h_13(double *state, double *unused, double *out_2170051261675760671) { + out_2170051261675760671[0] = state[3]; + out_2170051261675760671[1] = state[4]; + out_2170051261675760671[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6312589625764250784) { - out_6312589625764250784[0] = 0; - out_6312589625764250784[1] = 0; - out_6312589625764250784[2] = 0; - out_6312589625764250784[3] = 1; - out_6312589625764250784[4] = 0; - out_6312589625764250784[5] = 0; - out_6312589625764250784[6] = 0; - out_6312589625764250784[7] = 0; - out_6312589625764250784[8] = 0; - out_6312589625764250784[9] = 0; - out_6312589625764250784[10] = 0; - out_6312589625764250784[11] = 0; - out_6312589625764250784[12] = 0; - out_6312589625764250784[13] = 0; - out_6312589625764250784[14] = 0; - out_6312589625764250784[15] = 0; - out_6312589625764250784[16] = 0; - out_6312589625764250784[17] = 0; - out_6312589625764250784[18] = 0; - out_6312589625764250784[19] = 0; - out_6312589625764250784[20] = 0; - out_6312589625764250784[21] = 0; - out_6312589625764250784[22] = 1; - out_6312589625764250784[23] = 0; - out_6312589625764250784[24] = 0; - out_6312589625764250784[25] = 0; - out_6312589625764250784[26] = 0; - out_6312589625764250784[27] = 0; - out_6312589625764250784[28] = 0; - out_6312589625764250784[29] = 0; - out_6312589625764250784[30] = 0; - out_6312589625764250784[31] = 0; - out_6312589625764250784[32] = 0; - out_6312589625764250784[33] = 0; - out_6312589625764250784[34] = 0; - out_6312589625764250784[35] = 0; - out_6312589625764250784[36] = 0; - out_6312589625764250784[37] = 0; - out_6312589625764250784[38] = 0; - out_6312589625764250784[39] = 0; - out_6312589625764250784[40] = 0; - out_6312589625764250784[41] = 1; - out_6312589625764250784[42] = 0; - out_6312589625764250784[43] = 0; - out_6312589625764250784[44] = 0; - out_6312589625764250784[45] = 0; - out_6312589625764250784[46] = 0; - out_6312589625764250784[47] = 0; - out_6312589625764250784[48] = 0; - out_6312589625764250784[49] = 0; - out_6312589625764250784[50] = 0; - out_6312589625764250784[51] = 0; - out_6312589625764250784[52] = 0; - out_6312589625764250784[53] = 0; +void H_13(double *state, double *unused, double *out_7526129604422622352) { + out_7526129604422622352[0] = 0; + out_7526129604422622352[1] = 0; + out_7526129604422622352[2] = 0; + out_7526129604422622352[3] = 1; + out_7526129604422622352[4] = 0; + out_7526129604422622352[5] = 0; + out_7526129604422622352[6] = 0; + out_7526129604422622352[7] = 0; + out_7526129604422622352[8] = 0; + out_7526129604422622352[9] = 0; + out_7526129604422622352[10] = 0; + out_7526129604422622352[11] = 0; + out_7526129604422622352[12] = 0; + out_7526129604422622352[13] = 0; + out_7526129604422622352[14] = 0; + out_7526129604422622352[15] = 0; + out_7526129604422622352[16] = 0; + out_7526129604422622352[17] = 0; + out_7526129604422622352[18] = 0; + out_7526129604422622352[19] = 0; + out_7526129604422622352[20] = 0; + out_7526129604422622352[21] = 0; + out_7526129604422622352[22] = 1; + out_7526129604422622352[23] = 0; + out_7526129604422622352[24] = 0; + out_7526129604422622352[25] = 0; + out_7526129604422622352[26] = 0; + out_7526129604422622352[27] = 0; + out_7526129604422622352[28] = 0; + out_7526129604422622352[29] = 0; + out_7526129604422622352[30] = 0; + out_7526129604422622352[31] = 0; + out_7526129604422622352[32] = 0; + out_7526129604422622352[33] = 0; + out_7526129604422622352[34] = 0; + out_7526129604422622352[35] = 0; + out_7526129604422622352[36] = 0; + out_7526129604422622352[37] = 0; + out_7526129604422622352[38] = 0; + out_7526129604422622352[39] = 0; + out_7526129604422622352[40] = 0; + out_7526129604422622352[41] = 1; + out_7526129604422622352[42] = 0; + out_7526129604422622352[43] = 0; + out_7526129604422622352[44] = 0; + out_7526129604422622352[45] = 0; + out_7526129604422622352[46] = 0; + out_7526129604422622352[47] = 0; + out_7526129604422622352[48] = 0; + out_7526129604422622352[49] = 0; + out_7526129604422622352[50] = 0; + out_7526129604422622352[51] = 0; + out_7526129604422622352[52] = 0; + out_7526129604422622352[53] = 0; } -void h_14(double *state, double *unused, double *out_7677380843386584152) { - out_7677380843386584152[0] = state[6]; - out_7677380843386584152[1] = state[7]; - out_7677380843386584152[2] = state[8]; +void h_14(double *state, double *unused, double *out_352195394061766033) { + out_352195394061766033[0] = state[6]; + out_352195394061766033[1] = state[7]; + out_352195394061766033[2] = state[8]; } -void H_14(double *state, double *unused, double *out_17527368136545687) { - out_17527368136545687[0] = 0; - out_17527368136545687[1] = 0; - out_17527368136545687[2] = 0; - out_17527368136545687[3] = 0; - out_17527368136545687[4] = 0; - out_17527368136545687[5] = 0; - out_17527368136545687[6] = 1; - out_17527368136545687[7] = 0; - out_17527368136545687[8] = 0; - out_17527368136545687[9] = 0; - out_17527368136545687[10] = 0; - out_17527368136545687[11] = 0; - out_17527368136545687[12] = 0; - out_17527368136545687[13] = 0; - out_17527368136545687[14] = 0; - out_17527368136545687[15] = 0; - out_17527368136545687[16] = 0; - out_17527368136545687[17] = 0; - out_17527368136545687[18] = 0; - out_17527368136545687[19] = 0; - out_17527368136545687[20] = 0; - out_17527368136545687[21] = 0; - out_17527368136545687[22] = 0; - out_17527368136545687[23] = 0; - out_17527368136545687[24] = 0; - out_17527368136545687[25] = 1; - out_17527368136545687[26] = 0; - out_17527368136545687[27] = 0; - out_17527368136545687[28] = 0; - out_17527368136545687[29] = 0; - out_17527368136545687[30] = 0; - out_17527368136545687[31] = 0; - out_17527368136545687[32] = 0; - out_17527368136545687[33] = 0; - out_17527368136545687[34] = 0; - out_17527368136545687[35] = 0; - out_17527368136545687[36] = 0; - out_17527368136545687[37] = 0; - out_17527368136545687[38] = 0; - out_17527368136545687[39] = 0; - out_17527368136545687[40] = 0; - out_17527368136545687[41] = 0; - out_17527368136545687[42] = 0; - out_17527368136545687[43] = 0; - out_17527368136545687[44] = 1; - out_17527368136545687[45] = 0; - out_17527368136545687[46] = 0; - out_17527368136545687[47] = 0; - out_17527368136545687[48] = 0; - out_17527368136545687[49] = 0; - out_17527368136545687[50] = 0; - out_17527368136545687[51] = 0; - out_17527368136545687[52] = 0; - out_17527368136545687[53] = 0; +void H_14(double *state, double *unused, double *out_6775162573415470624) { + out_6775162573415470624[0] = 0; + out_6775162573415470624[1] = 0; + out_6775162573415470624[2] = 0; + out_6775162573415470624[3] = 0; + out_6775162573415470624[4] = 0; + out_6775162573415470624[5] = 0; + out_6775162573415470624[6] = 1; + out_6775162573415470624[7] = 0; + out_6775162573415470624[8] = 0; + out_6775162573415470624[9] = 0; + out_6775162573415470624[10] = 0; + out_6775162573415470624[11] = 0; + out_6775162573415470624[12] = 0; + out_6775162573415470624[13] = 0; + out_6775162573415470624[14] = 0; + out_6775162573415470624[15] = 0; + out_6775162573415470624[16] = 0; + out_6775162573415470624[17] = 0; + out_6775162573415470624[18] = 0; + out_6775162573415470624[19] = 0; + out_6775162573415470624[20] = 0; + out_6775162573415470624[21] = 0; + out_6775162573415470624[22] = 0; + out_6775162573415470624[23] = 0; + out_6775162573415470624[24] = 0; + out_6775162573415470624[25] = 1; + out_6775162573415470624[26] = 0; + out_6775162573415470624[27] = 0; + out_6775162573415470624[28] = 0; + out_6775162573415470624[29] = 0; + out_6775162573415470624[30] = 0; + out_6775162573415470624[31] = 0; + out_6775162573415470624[32] = 0; + out_6775162573415470624[33] = 0; + out_6775162573415470624[34] = 0; + out_6775162573415470624[35] = 0; + out_6775162573415470624[36] = 0; + out_6775162573415470624[37] = 0; + out_6775162573415470624[38] = 0; + out_6775162573415470624[39] = 0; + out_6775162573415470624[40] = 0; + out_6775162573415470624[41] = 0; + out_6775162573415470624[42] = 0; + out_6775162573415470624[43] = 0; + out_6775162573415470624[44] = 1; + out_6775162573415470624[45] = 0; + out_6775162573415470624[46] = 0; + out_6775162573415470624[47] = 0; + out_6775162573415470624[48] = 0; + out_6775162573415470624[49] = 0; + out_6775162573415470624[50] = 0; + out_6775162573415470624[51] = 0; + out_6775162573415470624[52] = 0; + out_6775162573415470624[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_2182435369834896236) { - err_fun(nom_x, delta_x, out_2182435369834896236); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7195396181340429812) { + err_fun(nom_x, delta_x, out_7195396181340429812); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197) { - inv_err_fun(nom_x, true_x, out_2883166859334089197); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6214721926630491138) { + inv_err_fun(nom_x, true_x, out_6214721926630491138); } -void pose_H_mod_fun(double *state, double *out_671491409411989589) { - H_mod_fun(state, out_671491409411989589); +void pose_H_mod_fun(double *state, double *out_8844892526159179063) { + H_mod_fun(state, out_8844892526159179063); } -void pose_f_fun(double *state, double dt, double *out_7919031781502386377) { - f_fun(state, dt, out_7919031781502386377); +void pose_f_fun(double *state, double dt, double *out_8367001063557654494) { + f_fun(state, dt, out_8367001063557654494); } -void pose_F_fun(double *state, double dt, double *out_7380360880106775220) { - F_fun(state, dt, out_7380360880106775220); +void pose_F_fun(double *state, double dt, double *out_2658931498525825673) { + F_fun(state, dt, out_2658931498525825673); } -void pose_h_4(double *state, double *unused, double *out_4702057929225754412) { - h_4(state, unused, out_4702057929225754412); +void pose_h_4(double *state, double *unused, double *out_84081779949576375) { + h_4(state, unused, out_84081779949576375); } -void pose_H_4(double *state, double *unused, double *out_3100315800431917983) { - H_4(state, unused, out_3100315800431917983); +void pose_H_4(double *state, double *unused, double *out_7708340643954596463) { + H_4(state, unused, out_7708340643954596463); } -void pose_h_10(double *state, double *unused, double *out_1901997026290432130) { - h_10(state, unused, out_1901997026290432130); +void pose_h_10(double *state, double *unused, double *out_7874962955445622717) { + h_10(state, unused, out_7874962955445622717); } -void pose_H_10(double *state, double *unused, double *out_5200655737232907775) { - H_10(state, unused, out_5200655737232907775); +void pose_H_10(double *state, double *unused, double *out_8079274030706525455) { + H_10(state, unused, out_8079274030706525455); } -void pose_h_13(double *state, double *unused, double *out_6749072148499604094) { - h_13(state, unused, out_6749072148499604094); +void pose_h_13(double *state, double *unused, double *out_2170051261675760671) { + h_13(state, unused, out_2170051261675760671); } -void pose_H_13(double *state, double *unused, double *out_6312589625764250784) { - H_13(state, unused, out_6312589625764250784); +void pose_H_13(double *state, double *unused, double *out_7526129604422622352) { + H_13(state, unused, out_7526129604422622352); } -void pose_h_14(double *state, double *unused, double *out_7677380843386584152) { - h_14(state, unused, out_7677380843386584152); +void pose_h_14(double *state, double *unused, double *out_352195394061766033) { + h_14(state, unused, out_352195394061766033); } -void pose_H_14(double *state, double *unused, double *out_17527368136545687) { - H_14(state, unused, out_17527368136545687); +void pose_H_14(double *state, double *unused, double *out_6775162573415470624) { + H_14(state, unused, out_6775162573415470624); } 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 f3e7e5d0f..95d27e21e 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_2182435369834896236); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197); -void pose_H_mod_fun(double *state, double *out_671491409411989589); -void pose_f_fun(double *state, double dt, double *out_7919031781502386377); -void pose_F_fun(double *state, double dt, double *out_7380360880106775220); -void pose_h_4(double *state, double *unused, double *out_4702057929225754412); -void pose_H_4(double *state, double *unused, double *out_3100315800431917983); -void pose_h_10(double *state, double *unused, double *out_1901997026290432130); -void pose_H_10(double *state, double *unused, double *out_5200655737232907775); -void pose_h_13(double *state, double *unused, double *out_6749072148499604094); -void pose_H_13(double *state, double *unused, double *out_6312589625764250784); -void pose_h_14(double *state, double *unused, double *out_7677380843386584152); -void pose_H_14(double *state, double *unused, double *out_17527368136545687); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7195396181340429812); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6214721926630491138); +void pose_H_mod_fun(double *state, double *out_8844892526159179063); +void pose_f_fun(double *state, double dt, double *out_8367001063557654494); +void pose_F_fun(double *state, double dt, double *out_2658931498525825673); +void pose_h_4(double *state, double *unused, double *out_84081779949576375); +void pose_H_4(double *state, double *unused, double *out_7708340643954596463); +void pose_h_10(double *state, double *unused, double *out_7874962955445622717); +void pose_H_10(double *state, double *unused, double *out_8079274030706525455); +void pose_h_13(double *state, double *unused, double *out_2170051261675760671); +void pose_H_13(double *state, double *unused, double *out_7526129604422622352); +void pose_h_14(double *state, double *unused, double *out_352195394061766033); +void pose_H_14(double *state, double *unused, double *out_6775162573415470624); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff 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