diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index f009bea2a..86f88305e 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 96f00992e..3d5c0ab19 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 839528b6b..adfc53269 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 87f400c40..751327759 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 902bc4eff..95554a0da 100755 Binary files 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differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index c209a86fb..2e3a279a1 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index e5fe63554..4badd44cb 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index e5fe63554..4badd44cb 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin 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uint8_t gitversion[19] = "DEV-284dbddd-DEBUG"; +const uint8_t gitversion[19] = "DEV-e28f72c6-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 00f7d3ec9..f8b54b0eb 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 8dedbe8cb..a32432ff9 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 5b9317882..08652104e 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index b54eb4466..42fa09aca 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed 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a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 0b79b2798..2e7da8763 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 02a395bbb..2025ee7d4 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-284dbddd-DEBUG \ No newline at end of file +DEV-e28f72c6-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index aa401375a..910947b9a 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_4436222918597397805) { - out_4436222918597397805[0] = delta_x[0] + nom_x[0]; - out_4436222918597397805[1] = delta_x[1] + nom_x[1]; - out_4436222918597397805[2] = delta_x[2] + nom_x[2]; - out_4436222918597397805[3] = delta_x[3] + nom_x[3]; - out_4436222918597397805[4] = delta_x[4] + nom_x[4]; - out_4436222918597397805[5] = delta_x[5] + nom_x[5]; - out_4436222918597397805[6] = delta_x[6] + nom_x[6]; - out_4436222918597397805[7] = delta_x[7] + nom_x[7]; - out_4436222918597397805[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8339538066892951453) { + out_8339538066892951453[0] = delta_x[0] + nom_x[0]; + out_8339538066892951453[1] = delta_x[1] + nom_x[1]; + out_8339538066892951453[2] = delta_x[2] + nom_x[2]; + out_8339538066892951453[3] = delta_x[3] + nom_x[3]; + out_8339538066892951453[4] = delta_x[4] + nom_x[4]; + out_8339538066892951453[5] = delta_x[5] + nom_x[5]; + out_8339538066892951453[6] = delta_x[6] + nom_x[6]; + out_8339538066892951453[7] = delta_x[7] + nom_x[7]; + out_8339538066892951453[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894) { - out_5455437002668972894[0] = -nom_x[0] + true_x[0]; - out_5455437002668972894[1] = -nom_x[1] + true_x[1]; - out_5455437002668972894[2] = -nom_x[2] + true_x[2]; - out_5455437002668972894[3] = -nom_x[3] + true_x[3]; - out_5455437002668972894[4] = -nom_x[4] + true_x[4]; - out_5455437002668972894[5] = -nom_x[5] + true_x[5]; - out_5455437002668972894[6] = -nom_x[6] + true_x[6]; - out_5455437002668972894[7] = -nom_x[7] + true_x[7]; - out_5455437002668972894[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489) { + out_1869575881362213489[0] = -nom_x[0] + true_x[0]; + out_1869575881362213489[1] = -nom_x[1] + true_x[1]; + out_1869575881362213489[2] = -nom_x[2] + true_x[2]; + out_1869575881362213489[3] = -nom_x[3] + true_x[3]; + out_1869575881362213489[4] = -nom_x[4] + true_x[4]; + out_1869575881362213489[5] = -nom_x[5] + true_x[5]; + out_1869575881362213489[6] = -nom_x[6] + true_x[6]; + out_1869575881362213489[7] = -nom_x[7] + true_x[7]; + out_1869575881362213489[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_210375879520347438) { - out_210375879520347438[0] = 1.0; - out_210375879520347438[1] = 0.0; - out_210375879520347438[2] = 0.0; - out_210375879520347438[3] = 0.0; - out_210375879520347438[4] = 0.0; - out_210375879520347438[5] = 0.0; - out_210375879520347438[6] = 0.0; - out_210375879520347438[7] = 0.0; - out_210375879520347438[8] = 0.0; - out_210375879520347438[9] = 0.0; - out_210375879520347438[10] = 1.0; - out_210375879520347438[11] = 0.0; - out_210375879520347438[12] = 0.0; - out_210375879520347438[13] = 0.0; - out_210375879520347438[14] = 0.0; - out_210375879520347438[15] = 0.0; - out_210375879520347438[16] = 0.0; - out_210375879520347438[17] = 0.0; - out_210375879520347438[18] = 0.0; - out_210375879520347438[19] = 0.0; - out_210375879520347438[20] = 1.0; - out_210375879520347438[21] = 0.0; - out_210375879520347438[22] = 0.0; - out_210375879520347438[23] = 0.0; - out_210375879520347438[24] = 0.0; - out_210375879520347438[25] = 0.0; - out_210375879520347438[26] = 0.0; - out_210375879520347438[27] = 0.0; - out_210375879520347438[28] = 0.0; - out_210375879520347438[29] = 0.0; - out_210375879520347438[30] = 1.0; - out_210375879520347438[31] = 0.0; - out_210375879520347438[32] = 0.0; - out_210375879520347438[33] = 0.0; - out_210375879520347438[34] = 0.0; - out_210375879520347438[35] = 0.0; - out_210375879520347438[36] = 0.0; - out_210375879520347438[37] = 0.0; - out_210375879520347438[38] = 0.0; - out_210375879520347438[39] = 0.0; - out_210375879520347438[40] = 1.0; - out_210375879520347438[41] = 0.0; - out_210375879520347438[42] = 0.0; - out_210375879520347438[43] = 0.0; - out_210375879520347438[44] = 0.0; - out_210375879520347438[45] = 0.0; - out_210375879520347438[46] = 0.0; - out_210375879520347438[47] = 0.0; - out_210375879520347438[48] = 0.0; - out_210375879520347438[49] = 0.0; - out_210375879520347438[50] = 1.0; - out_210375879520347438[51] = 0.0; - out_210375879520347438[52] = 0.0; - out_210375879520347438[53] = 0.0; - out_210375879520347438[54] = 0.0; - out_210375879520347438[55] = 0.0; - out_210375879520347438[56] = 0.0; - out_210375879520347438[57] = 0.0; - out_210375879520347438[58] = 0.0; - out_210375879520347438[59] = 0.0; - out_210375879520347438[60] = 1.0; - out_210375879520347438[61] = 0.0; - out_210375879520347438[62] = 0.0; - out_210375879520347438[63] = 0.0; - out_210375879520347438[64] = 0.0; - out_210375879520347438[65] = 0.0; - out_210375879520347438[66] = 0.0; - out_210375879520347438[67] = 0.0; - out_210375879520347438[68] = 0.0; - out_210375879520347438[69] = 0.0; - out_210375879520347438[70] = 1.0; - out_210375879520347438[71] = 0.0; - out_210375879520347438[72] = 0.0; - out_210375879520347438[73] = 0.0; - out_210375879520347438[74] = 0.0; - out_210375879520347438[75] = 0.0; - out_210375879520347438[76] = 0.0; - out_210375879520347438[77] = 0.0; - out_210375879520347438[78] = 0.0; - out_210375879520347438[79] = 0.0; - out_210375879520347438[80] = 1.0; +void H_mod_fun(double *state, double *out_4134445094065349854) { + out_4134445094065349854[0] = 1.0; + out_4134445094065349854[1] = 0.0; + out_4134445094065349854[2] = 0.0; + out_4134445094065349854[3] = 0.0; + out_4134445094065349854[4] = 0.0; + out_4134445094065349854[5] = 0.0; + out_4134445094065349854[6] = 0.0; + out_4134445094065349854[7] = 0.0; + out_4134445094065349854[8] = 0.0; + out_4134445094065349854[9] = 0.0; + out_4134445094065349854[10] = 1.0; + out_4134445094065349854[11] = 0.0; + out_4134445094065349854[12] = 0.0; + out_4134445094065349854[13] = 0.0; + out_4134445094065349854[14] = 0.0; + out_4134445094065349854[15] = 0.0; + out_4134445094065349854[16] = 0.0; + out_4134445094065349854[17] = 0.0; + out_4134445094065349854[18] = 0.0; + out_4134445094065349854[19] = 0.0; + out_4134445094065349854[20] = 1.0; + out_4134445094065349854[21] = 0.0; + out_4134445094065349854[22] = 0.0; + out_4134445094065349854[23] = 0.0; + out_4134445094065349854[24] = 0.0; + out_4134445094065349854[25] = 0.0; + out_4134445094065349854[26] = 0.0; + out_4134445094065349854[27] = 0.0; + out_4134445094065349854[28] = 0.0; + out_4134445094065349854[29] = 0.0; + out_4134445094065349854[30] = 1.0; + out_4134445094065349854[31] = 0.0; + out_4134445094065349854[32] = 0.0; + out_4134445094065349854[33] = 0.0; + out_4134445094065349854[34] = 0.0; + out_4134445094065349854[35] = 0.0; + out_4134445094065349854[36] = 0.0; + out_4134445094065349854[37] = 0.0; + out_4134445094065349854[38] = 0.0; + out_4134445094065349854[39] = 0.0; + out_4134445094065349854[40] = 1.0; + out_4134445094065349854[41] = 0.0; + out_4134445094065349854[42] = 0.0; + out_4134445094065349854[43] = 0.0; + out_4134445094065349854[44] = 0.0; + out_4134445094065349854[45] = 0.0; + out_4134445094065349854[46] = 0.0; + out_4134445094065349854[47] = 0.0; + out_4134445094065349854[48] = 0.0; + out_4134445094065349854[49] = 0.0; + out_4134445094065349854[50] = 1.0; + out_4134445094065349854[51] = 0.0; + out_4134445094065349854[52] = 0.0; + out_4134445094065349854[53] = 0.0; + out_4134445094065349854[54] = 0.0; + out_4134445094065349854[55] = 0.0; + out_4134445094065349854[56] = 0.0; + out_4134445094065349854[57] = 0.0; + out_4134445094065349854[58] = 0.0; + out_4134445094065349854[59] = 0.0; + out_4134445094065349854[60] = 1.0; + out_4134445094065349854[61] = 0.0; + out_4134445094065349854[62] = 0.0; + out_4134445094065349854[63] = 0.0; + out_4134445094065349854[64] = 0.0; + out_4134445094065349854[65] = 0.0; + out_4134445094065349854[66] = 0.0; + out_4134445094065349854[67] = 0.0; + out_4134445094065349854[68] = 0.0; + out_4134445094065349854[69] = 0.0; + out_4134445094065349854[70] = 1.0; + out_4134445094065349854[71] = 0.0; + out_4134445094065349854[72] = 0.0; + out_4134445094065349854[73] = 0.0; + out_4134445094065349854[74] = 0.0; + out_4134445094065349854[75] = 0.0; + out_4134445094065349854[76] = 0.0; + out_4134445094065349854[77] = 0.0; + out_4134445094065349854[78] = 0.0; + out_4134445094065349854[79] = 0.0; + out_4134445094065349854[80] = 1.0; } -void f_fun(double *state, double dt, double *out_467846126367206141) { - out_467846126367206141[0] = state[0]; - out_467846126367206141[1] = state[1]; - out_467846126367206141[2] = state[2]; - out_467846126367206141[3] = state[3]; - out_467846126367206141[4] = state[4]; - out_467846126367206141[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_467846126367206141[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_467846126367206141[7] = state[7]; - out_467846126367206141[8] = state[8]; +void f_fun(double *state, double dt, double *out_1187519494066628558) { + out_1187519494066628558[0] = state[0]; + out_1187519494066628558[1] = state[1]; + out_1187519494066628558[2] = state[2]; + out_1187519494066628558[3] = state[3]; + out_1187519494066628558[4] = state[4]; + out_1187519494066628558[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_1187519494066628558[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_1187519494066628558[7] = state[7]; + out_1187519494066628558[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3146439140780538523) { - out_3146439140780538523[0] = 1; - out_3146439140780538523[1] = 0; - out_3146439140780538523[2] = 0; - out_3146439140780538523[3] = 0; - out_3146439140780538523[4] = 0; - out_3146439140780538523[5] = 0; - out_3146439140780538523[6] = 0; - out_3146439140780538523[7] = 0; - out_3146439140780538523[8] = 0; - out_3146439140780538523[9] = 0; - out_3146439140780538523[10] = 1; - out_3146439140780538523[11] = 0; - out_3146439140780538523[12] = 0; - out_3146439140780538523[13] = 0; - out_3146439140780538523[14] = 0; - out_3146439140780538523[15] = 0; - out_3146439140780538523[16] = 0; - out_3146439140780538523[17] = 0; - out_3146439140780538523[18] = 0; - out_3146439140780538523[19] = 0; - out_3146439140780538523[20] = 1; - out_3146439140780538523[21] = 0; - out_3146439140780538523[22] = 0; - out_3146439140780538523[23] = 0; - out_3146439140780538523[24] = 0; - out_3146439140780538523[25] = 0; - out_3146439140780538523[26] = 0; - out_3146439140780538523[27] = 0; - out_3146439140780538523[28] = 0; - out_3146439140780538523[29] = 0; - out_3146439140780538523[30] = 1; - out_3146439140780538523[31] = 0; - out_3146439140780538523[32] = 0; - out_3146439140780538523[33] = 0; - out_3146439140780538523[34] = 0; - out_3146439140780538523[35] = 0; - out_3146439140780538523[36] = 0; - out_3146439140780538523[37] = 0; - out_3146439140780538523[38] = 0; - out_3146439140780538523[39] = 0; - out_3146439140780538523[40] = 1; - out_3146439140780538523[41] = 0; - out_3146439140780538523[42] = 0; - out_3146439140780538523[43] = 0; - out_3146439140780538523[44] = 0; - out_3146439140780538523[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_3146439140780538523[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3146439140780538523[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3146439140780538523[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3146439140780538523[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_3146439140780538523[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3146439140780538523[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3146439140780538523[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3146439140780538523[53] = -9.8100000000000005*dt; - out_3146439140780538523[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_3146439140780538523[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3146439140780538523[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3146439140780538523[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3146439140780538523[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_3146439140780538523[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3146439140780538523[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_3146439140780538523[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3146439140780538523[62] = 0; - out_3146439140780538523[63] = 0; - out_3146439140780538523[64] = 0; - out_3146439140780538523[65] = 0; - out_3146439140780538523[66] = 0; - out_3146439140780538523[67] = 0; - out_3146439140780538523[68] = 0; - out_3146439140780538523[69] = 0; - out_3146439140780538523[70] = 1; - out_3146439140780538523[71] = 0; - out_3146439140780538523[72] = 0; - out_3146439140780538523[73] = 0; - out_3146439140780538523[74] = 0; - out_3146439140780538523[75] = 0; - out_3146439140780538523[76] = 0; - out_3146439140780538523[77] = 0; - out_3146439140780538523[78] = 0; - out_3146439140780538523[79] = 0; - out_3146439140780538523[80] = 1; +void F_fun(double *state, double dt, double *out_638221139616797346) { + out_638221139616797346[0] = 1; + out_638221139616797346[1] = 0; + out_638221139616797346[2] = 0; + out_638221139616797346[3] = 0; + out_638221139616797346[4] = 0; + out_638221139616797346[5] = 0; + out_638221139616797346[6] = 0; + out_638221139616797346[7] = 0; + out_638221139616797346[8] = 0; + out_638221139616797346[9] = 0; + out_638221139616797346[10] = 1; + out_638221139616797346[11] = 0; + out_638221139616797346[12] = 0; + out_638221139616797346[13] = 0; + out_638221139616797346[14] = 0; + out_638221139616797346[15] = 0; + out_638221139616797346[16] = 0; + out_638221139616797346[17] = 0; + out_638221139616797346[18] = 0; + out_638221139616797346[19] = 0; + out_638221139616797346[20] = 1; + out_638221139616797346[21] = 0; + out_638221139616797346[22] = 0; + out_638221139616797346[23] = 0; + out_638221139616797346[24] = 0; + out_638221139616797346[25] = 0; + out_638221139616797346[26] = 0; + out_638221139616797346[27] = 0; + out_638221139616797346[28] = 0; + out_638221139616797346[29] = 0; + out_638221139616797346[30] = 1; + out_638221139616797346[31] = 0; + out_638221139616797346[32] = 0; + out_638221139616797346[33] = 0; + out_638221139616797346[34] = 0; + out_638221139616797346[35] = 0; + out_638221139616797346[36] = 0; + out_638221139616797346[37] = 0; + out_638221139616797346[38] = 0; + out_638221139616797346[39] = 0; + out_638221139616797346[40] = 1; + out_638221139616797346[41] = 0; + out_638221139616797346[42] = 0; + out_638221139616797346[43] = 0; + out_638221139616797346[44] = 0; + out_638221139616797346[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_638221139616797346[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_638221139616797346[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_638221139616797346[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_638221139616797346[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_638221139616797346[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_638221139616797346[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_638221139616797346[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_638221139616797346[53] = -9.8100000000000005*dt; + out_638221139616797346[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_638221139616797346[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_638221139616797346[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_638221139616797346[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_638221139616797346[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_638221139616797346[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_638221139616797346[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_638221139616797346[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_638221139616797346[62] = 0; + out_638221139616797346[63] = 0; + out_638221139616797346[64] = 0; + out_638221139616797346[65] = 0; + out_638221139616797346[66] = 0; + out_638221139616797346[67] = 0; + out_638221139616797346[68] = 0; + out_638221139616797346[69] = 0; + out_638221139616797346[70] = 1; + out_638221139616797346[71] = 0; + out_638221139616797346[72] = 0; + out_638221139616797346[73] = 0; + out_638221139616797346[74] = 0; + out_638221139616797346[75] = 0; + out_638221139616797346[76] = 0; + out_638221139616797346[77] = 0; + out_638221139616797346[78] = 0; + out_638221139616797346[79] = 0; + out_638221139616797346[80] = 1; } -void h_25(double *state, double *unused, double *out_3524127915259881655) { - out_3524127915259881655[0] = state[6]; +void h_25(double *state, double *unused, double *out_6007362445110034756) { + out_6007362445110034756[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3733424518165712586) { - out_3733424518165712586[0] = 0; - out_3733424518165712586[1] = 0; - out_3733424518165712586[2] = 0; - out_3733424518165712586[3] = 0; - out_3733424518165712586[4] = 0; - out_3733424518165712586[5] = 0; - out_3733424518165712586[6] = 1; - out_3733424518165712586[7] = 0; - out_3733424518165712586[8] = 0; +void H_25(double *state, double *unused, double *out_5119110753731964525) { + out_5119110753731964525[0] = 0; + out_5119110753731964525[1] = 0; + out_5119110753731964525[2] = 0; + out_5119110753731964525[3] = 0; + out_5119110753731964525[4] = 0; + out_5119110753731964525[5] = 0; + out_5119110753731964525[6] = 1; + out_5119110753731964525[7] = 0; + out_5119110753731964525[8] = 0; } -void h_24(double *state, double *unused, double *out_5258226883159248845) { - out_5258226883159248845[0] = state[4]; - out_5258226883159248845[1] = state[5]; +void h_24(double *state, double *unused, double *out_5449620096162801389) { + out_5449620096162801389[0] = state[4]; + out_5449620096162801389[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2842147288425805515) { - out_2842147288425805515[0] = 0; - out_2842147288425805515[1] = 0; - out_2842147288425805515[2] = 0; - out_2842147288425805515[3] = 0; - out_2842147288425805515[4] = 1; - out_2842147288425805515[5] = 0; - out_2842147288425805515[6] = 0; - out_2842147288425805515[7] = 0; - out_2842147288425805515[8] = 0; - out_2842147288425805515[9] = 0; - out_2842147288425805515[10] = 0; - out_2842147288425805515[11] = 0; - out_2842147288425805515[12] = 0; - out_2842147288425805515[13] = 0; - out_2842147288425805515[14] = 1; - out_2842147288425805515[15] = 0; - out_2842147288425805515[16] = 0; - out_2842147288425805515[17] = 0; +void H_24(double *state, double *unused, double *out_2946461154726464959) { + out_2946461154726464959[0] = 0; + out_2946461154726464959[1] = 0; + out_2946461154726464959[2] = 0; + out_2946461154726464959[3] = 0; + out_2946461154726464959[4] = 1; + out_2946461154726464959[5] = 0; + out_2946461154726464959[6] = 0; + out_2946461154726464959[7] = 0; + out_2946461154726464959[8] = 0; + out_2946461154726464959[9] = 0; + out_2946461154726464959[10] = 0; + out_2946461154726464959[11] = 0; + out_2946461154726464959[12] = 0; + out_2946461154726464959[13] = 0; + out_2946461154726464959[14] = 1; + out_2946461154726464959[15] = 0; + out_2946461154726464959[16] = 0; + out_2946461154726464959[17] = 0; } -void h_30(double *state, double *unused, double *out_2922709757646518101) { - out_2922709757646518101[0] = state[4]; +void h_30(double *state, double *unused, double *out_2369912916856012406) { + out_2369912916856012406[0] = state[4]; } -void H_30(double *state, double *unused, double *out_3183265823325904169) { - out_3183265823325904169[0] = 0; - out_3183265823325904169[1] = 0; - out_3183265823325904169[2] = 0; - out_3183265823325904169[3] = 0; - out_3183265823325904169[4] = 1; - out_3183265823325904169[5] = 0; - out_3183265823325904169[6] = 0; - out_3183265823325904169[7] = 0; - out_3183265823325904169[8] = 0; +void H_30(double *state, double *unused, double *out_7637443712239213152) { + out_7637443712239213152[0] = 0; + out_7637443712239213152[1] = 0; + out_7637443712239213152[2] = 0; + out_7637443712239213152[3] = 0; + out_7637443712239213152[4] = 1; + out_7637443712239213152[5] = 0; + out_7637443712239213152[6] = 0; + out_7637443712239213152[7] = 0; + out_7637443712239213152[8] = 0; } -void h_26(double *state, double *unused, double *out_2078963510014327544) { - out_2078963510014327544[0] = state[7]; +void h_26(double *state, double *unused, double *out_6836290203325307661) { + out_6836290203325307661[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7474927837039768810) { - out_7474927837039768810[0] = 0; - out_7474927837039768810[1] = 0; - out_7474927837039768810[2] = 0; - out_7474927837039768810[3] = 0; - out_7474927837039768810[4] = 0; - out_7474927837039768810[5] = 0; - out_7474927837039768810[6] = 0; - out_7474927837039768810[7] = 1; - out_7474927837039768810[8] = 0; +void H_26(double *state, double *unused, double *out_1377607434857908301) { + out_1377607434857908301[0] = 0; + out_1377607434857908301[1] = 0; + out_1377607434857908301[2] = 0; + out_1377607434857908301[3] = 0; + out_1377607434857908301[4] = 0; + out_1377607434857908301[5] = 0; + out_1377607434857908301[6] = 0; + out_1377607434857908301[7] = 1; + out_1377607434857908301[8] = 0; } -void h_27(double *state, double *unused, double *out_9006985404715807625) { - out_9006985404715807625[0] = state[3]; +void h_27(double *state, double *unused, double *out_2710474474758657570) { + out_2710474474758657570[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1008502511525479258) { - out_1008502511525479258[0] = 0; - out_1008502511525479258[1] = 0; - out_1008502511525479258[2] = 0; - out_1008502511525479258[3] = 1; - out_1008502511525479258[4] = 0; - out_1008502511525479258[5] = 0; - out_1008502511525479258[6] = 0; - out_1008502511525479258[7] = 0; - out_1008502511525479258[8] = 0; +void H_27(double *state, double *unused, double *out_8585706290286395247) { + out_8585706290286395247[0] = 0; + out_8585706290286395247[1] = 0; + out_8585706290286395247[2] = 0; + out_8585706290286395247[3] = 1; + out_8585706290286395247[4] = 0; + out_8585706290286395247[5] = 0; + out_8585706290286395247[6] = 0; + out_8585706290286395247[7] = 0; + out_8585706290286395247[8] = 0; } -void h_29(double *state, double *unused, double *out_1979199904744855666) { - out_1979199904744855666[0] = state[1]; +void h_29(double *state, double *unused, double *out_1542363084005055587) { + out_1542363084005055587[0] = state[1]; } -void H_29(double *state, double *unused, double *out_704860215344071775) { - out_704860215344071775[0] = 0; - out_704860215344071775[1] = 1; - out_704860215344071775[2] = 0; - out_704860215344071775[3] = 0; - out_704860215344071775[4] = 0; - out_704860215344071775[5] = 0; - out_704860215344071775[6] = 0; - out_704860215344071775[7] = 0; - out_704860215344071775[8] = 0; +void H_29(double *state, double *unused, double *out_8147675056553605336) { + out_8147675056553605336[0] = 0; + out_8147675056553605336[1] = 1; + out_8147675056553605336[2] = 0; + out_8147675056553605336[3] = 0; + out_8147675056553605336[4] = 0; + out_8147675056553605336[5] = 0; + out_8147675056553605336[6] = 0; + out_8147675056553605336[7] = 0; + out_8147675056553605336[8] = 0; } -void h_28(double *state, double *unused, double *out_6835353348185046340) { - out_6835353348185046340[0] = state[0]; +void h_28(double *state, double *unused, double *out_7712147742419503215) { + out_7712147742419503215[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5787259232413602349) { - out_5787259232413602349[0] = 1; - out_5787259232413602349[1] = 0; - out_5787259232413602349[2] = 0; - out_5787259232413602349[3] = 0; - out_5787259232413602349[4] = 0; - out_5787259232413602349[5] = 0; - out_5787259232413602349[6] = 0; - out_5787259232413602349[7] = 0; - out_5787259232413602349[8] = 0; +void H_28(double *state, double *unused, double *out_3065276039484074762) { + out_3065276039484074762[0] = 1; + out_3065276039484074762[1] = 0; + out_3065276039484074762[2] = 0; + out_3065276039484074762[3] = 0; + out_3065276039484074762[4] = 0; + out_3065276039484074762[5] = 0; + out_3065276039484074762[6] = 0; + out_3065276039484074762[7] = 0; + out_3065276039484074762[8] = 0; } -void h_31(double *state, double *unused, double *out_4974759307888764822) { - out_4974759307888764822[0] = state[8]; +void h_31(double *state, double *unused, double *out_6282556507394540645) { + out_6282556507394540645[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3702778556288752158) { - out_3702778556288752158[0] = 0; - out_3702778556288752158[1] = 0; - out_3702778556288752158[2] = 0; - out_3702778556288752158[3] = 0; - out_3702778556288752158[4] = 0; - out_3702778556288752158[5] = 0; - out_3702778556288752158[6] = 0; - out_3702778556288752158[7] = 0; - out_3702778556288752158[8] = 1; +void H_31(double *state, double *unused, double *out_5149756715608924953) { + out_5149756715608924953[0] = 0; + out_5149756715608924953[1] = 0; + out_5149756715608924953[2] = 0; + out_5149756715608924953[3] = 0; + out_5149756715608924953[4] = 0; + out_5149756715608924953[5] = 0; + out_5149756715608924953[6] = 0; + out_5149756715608924953[7] = 0; + out_5149756715608924953[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_4436222918597397805) { - err_fun(nom_x, delta_x, out_4436222918597397805); +void car_err_fun(double *nom_x, double *delta_x, double *out_8339538066892951453) { + err_fun(nom_x, delta_x, out_8339538066892951453); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894) { - inv_err_fun(nom_x, true_x, out_5455437002668972894); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489) { + inv_err_fun(nom_x, true_x, out_1869575881362213489); } -void car_H_mod_fun(double *state, double *out_210375879520347438) { - H_mod_fun(state, out_210375879520347438); +void car_H_mod_fun(double *state, double *out_4134445094065349854) { + H_mod_fun(state, out_4134445094065349854); } -void car_f_fun(double *state, double dt, double *out_467846126367206141) { - f_fun(state, dt, out_467846126367206141); +void car_f_fun(double *state, double dt, double *out_1187519494066628558) { + f_fun(state, dt, out_1187519494066628558); } -void car_F_fun(double *state, double dt, double *out_3146439140780538523) { - F_fun(state, dt, out_3146439140780538523); +void car_F_fun(double *state, double dt, double *out_638221139616797346) { + F_fun(state, dt, out_638221139616797346); } -void car_h_25(double *state, double *unused, double *out_3524127915259881655) { - h_25(state, unused, out_3524127915259881655); +void car_h_25(double *state, double *unused, double *out_6007362445110034756) { + h_25(state, unused, out_6007362445110034756); } -void car_H_25(double *state, double *unused, double *out_3733424518165712586) { - H_25(state, unused, out_3733424518165712586); +void car_H_25(double *state, double *unused, double *out_5119110753731964525) { + H_25(state, unused, out_5119110753731964525); } -void car_h_24(double *state, double *unused, double *out_5258226883159248845) { - h_24(state, unused, out_5258226883159248845); +void car_h_24(double *state, double *unused, double *out_5449620096162801389) { + h_24(state, unused, out_5449620096162801389); } -void car_H_24(double *state, double *unused, double *out_2842147288425805515) { - H_24(state, unused, out_2842147288425805515); +void car_H_24(double *state, double *unused, double *out_2946461154726464959) { + H_24(state, unused, out_2946461154726464959); } -void car_h_30(double *state, double *unused, double *out_2922709757646518101) { - h_30(state, unused, out_2922709757646518101); +void car_h_30(double *state, double *unused, double *out_2369912916856012406) { + h_30(state, unused, out_2369912916856012406); } -void car_H_30(double *state, double *unused, double *out_3183265823325904169) { - H_30(state, unused, out_3183265823325904169); +void car_H_30(double *state, double *unused, double *out_7637443712239213152) { + H_30(state, unused, out_7637443712239213152); } -void car_h_26(double *state, double *unused, double *out_2078963510014327544) { - h_26(state, unused, out_2078963510014327544); +void car_h_26(double *state, double *unused, double *out_6836290203325307661) { + h_26(state, unused, out_6836290203325307661); } -void car_H_26(double *state, double *unused, double *out_7474927837039768810) { - H_26(state, unused, out_7474927837039768810); +void car_H_26(double *state, double *unused, double *out_1377607434857908301) { + H_26(state, unused, out_1377607434857908301); } -void car_h_27(double *state, double *unused, double *out_9006985404715807625) { - h_27(state, unused, out_9006985404715807625); +void car_h_27(double *state, double *unused, double *out_2710474474758657570) { + h_27(state, unused, out_2710474474758657570); } -void car_H_27(double *state, double *unused, double *out_1008502511525479258) { - H_27(state, unused, out_1008502511525479258); +void car_H_27(double *state, double *unused, double *out_8585706290286395247) { + H_27(state, unused, out_8585706290286395247); } -void car_h_29(double *state, double *unused, double *out_1979199904744855666) { - h_29(state, unused, out_1979199904744855666); +void car_h_29(double *state, double *unused, double *out_1542363084005055587) { + h_29(state, unused, out_1542363084005055587); } -void car_H_29(double *state, double *unused, double *out_704860215344071775) { - H_29(state, unused, out_704860215344071775); +void car_H_29(double *state, double *unused, double *out_8147675056553605336) { + H_29(state, unused, out_8147675056553605336); } -void car_h_28(double *state, double *unused, double *out_6835353348185046340) { - h_28(state, unused, out_6835353348185046340); +void car_h_28(double *state, double *unused, double *out_7712147742419503215) { + h_28(state, unused, out_7712147742419503215); } -void car_H_28(double *state, double *unused, double *out_5787259232413602349) { - H_28(state, unused, out_5787259232413602349); +void car_H_28(double *state, double *unused, double *out_3065276039484074762) { + H_28(state, unused, out_3065276039484074762); } -void car_h_31(double *state, double *unused, double *out_4974759307888764822) { - h_31(state, unused, out_4974759307888764822); +void car_h_31(double *state, double *unused, double *out_6282556507394540645) { + h_31(state, unused, out_6282556507394540645); } -void car_H_31(double *state, double *unused, double *out_3702778556288752158) { - H_31(state, unused, out_3702778556288752158); +void car_H_31(double *state, double *unused, double *out_5149756715608924953) { + H_31(state, unused, out_5149756715608924953); } 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 e3972d4d2..936795cdd 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_4436222918597397805); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5455437002668972894); -void car_H_mod_fun(double *state, double *out_210375879520347438); -void car_f_fun(double *state, double dt, double *out_467846126367206141); -void car_F_fun(double *state, double dt, double *out_3146439140780538523); -void car_h_25(double *state, double *unused, double *out_3524127915259881655); -void car_H_25(double *state, double *unused, double *out_3733424518165712586); -void car_h_24(double *state, double *unused, double *out_5258226883159248845); -void car_H_24(double *state, double *unused, double *out_2842147288425805515); -void car_h_30(double *state, double *unused, double *out_2922709757646518101); -void car_H_30(double *state, double *unused, double *out_3183265823325904169); -void car_h_26(double *state, double *unused, double *out_2078963510014327544); -void car_H_26(double *state, double *unused, double *out_7474927837039768810); -void car_h_27(double *state, double *unused, double *out_9006985404715807625); -void car_H_27(double *state, double *unused, double *out_1008502511525479258); -void car_h_29(double *state, double *unused, double *out_1979199904744855666); -void car_H_29(double *state, double *unused, double *out_704860215344071775); -void car_h_28(double *state, double *unused, double *out_6835353348185046340); -void car_H_28(double *state, double *unused, double *out_5787259232413602349); -void car_h_31(double *state, double *unused, double *out_4974759307888764822); -void car_H_31(double *state, double *unused, double *out_3702778556288752158); +void car_err_fun(double *nom_x, double *delta_x, double *out_8339538066892951453); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489); +void car_H_mod_fun(double *state, double *out_4134445094065349854); +void car_f_fun(double *state, double dt, double *out_1187519494066628558); +void car_F_fun(double *state, double dt, double *out_638221139616797346); +void car_h_25(double *state, double *unused, double *out_6007362445110034756); +void car_H_25(double *state, double *unused, double *out_5119110753731964525); +void car_h_24(double *state, double *unused, double *out_5449620096162801389); +void car_H_24(double *state, double *unused, double *out_2946461154726464959); +void car_h_30(double *state, double *unused, double *out_2369912916856012406); +void car_H_30(double *state, double *unused, double *out_7637443712239213152); +void car_h_26(double *state, double *unused, double *out_6836290203325307661); +void car_H_26(double *state, double *unused, double *out_1377607434857908301); +void car_h_27(double *state, double *unused, double *out_2710474474758657570); +void car_H_27(double *state, double *unused, double *out_8585706290286395247); +void car_h_29(double *state, double *unused, double *out_1542363084005055587); +void car_H_29(double *state, double *unused, double *out_8147675056553605336); +void car_h_28(double *state, double *unused, double *out_7712147742419503215); +void car_H_28(double *state, double *unused, double *out_3065276039484074762); +void car_h_31(double *state, double *unused, double *out_6282556507394540645); +void car_H_31(double *state, double *unused, double *out_5149756715608924953); 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 4544dec05..b8a03d301 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_4409321269442810496) { - out_4409321269442810496[0] = delta_x[0] + nom_x[0]; - out_4409321269442810496[1] = delta_x[1] + nom_x[1]; - out_4409321269442810496[2] = delta_x[2] + nom_x[2]; - out_4409321269442810496[3] = delta_x[3] + nom_x[3]; - out_4409321269442810496[4] = delta_x[4] + nom_x[4]; - out_4409321269442810496[5] = delta_x[5] + nom_x[5]; - out_4409321269442810496[6] = delta_x[6] + nom_x[6]; - out_4409321269442810496[7] = delta_x[7] + nom_x[7]; - out_4409321269442810496[8] = delta_x[8] + nom_x[8]; - out_4409321269442810496[9] = delta_x[9] + nom_x[9]; - out_4409321269442810496[10] = delta_x[10] + nom_x[10]; - out_4409321269442810496[11] = delta_x[11] + nom_x[11]; - out_4409321269442810496[12] = delta_x[12] + nom_x[12]; - out_4409321269442810496[13] = delta_x[13] + nom_x[13]; - out_4409321269442810496[14] = delta_x[14] + nom_x[14]; - out_4409321269442810496[15] = delta_x[15] + nom_x[15]; - out_4409321269442810496[16] = delta_x[16] + nom_x[16]; - out_4409321269442810496[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8230036097863094971) { + out_8230036097863094971[0] = delta_x[0] + nom_x[0]; + out_8230036097863094971[1] = delta_x[1] + nom_x[1]; + out_8230036097863094971[2] = delta_x[2] + nom_x[2]; + out_8230036097863094971[3] = delta_x[3] + nom_x[3]; + out_8230036097863094971[4] = delta_x[4] + nom_x[4]; + out_8230036097863094971[5] = delta_x[5] + nom_x[5]; + out_8230036097863094971[6] = delta_x[6] + nom_x[6]; + out_8230036097863094971[7] = delta_x[7] + nom_x[7]; + out_8230036097863094971[8] = delta_x[8] + nom_x[8]; + out_8230036097863094971[9] = delta_x[9] + nom_x[9]; + out_8230036097863094971[10] = delta_x[10] + nom_x[10]; + out_8230036097863094971[11] = delta_x[11] + nom_x[11]; + out_8230036097863094971[12] = delta_x[12] + nom_x[12]; + out_8230036097863094971[13] = delta_x[13] + nom_x[13]; + out_8230036097863094971[14] = delta_x[14] + nom_x[14]; + out_8230036097863094971[15] = delta_x[15] + nom_x[15]; + out_8230036097863094971[16] = delta_x[16] + nom_x[16]; + out_8230036097863094971[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3789556254182165506) { - out_3789556254182165506[0] = -nom_x[0] + true_x[0]; - out_3789556254182165506[1] = -nom_x[1] + true_x[1]; - out_3789556254182165506[2] = -nom_x[2] + true_x[2]; - out_3789556254182165506[3] = -nom_x[3] + true_x[3]; - out_3789556254182165506[4] = -nom_x[4] + true_x[4]; - out_3789556254182165506[5] = -nom_x[5] + true_x[5]; - out_3789556254182165506[6] = -nom_x[6] + true_x[6]; - out_3789556254182165506[7] = -nom_x[7] + true_x[7]; - out_3789556254182165506[8] = -nom_x[8] + true_x[8]; - out_3789556254182165506[9] = -nom_x[9] + true_x[9]; - out_3789556254182165506[10] = -nom_x[10] + true_x[10]; - out_3789556254182165506[11] = -nom_x[11] + true_x[11]; - out_3789556254182165506[12] = -nom_x[12] + true_x[12]; - out_3789556254182165506[13] = -nom_x[13] + true_x[13]; - out_3789556254182165506[14] = -nom_x[14] + true_x[14]; - out_3789556254182165506[15] = -nom_x[15] + true_x[15]; - out_3789556254182165506[16] = -nom_x[16] + true_x[16]; - out_3789556254182165506[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8741051770711475830) { + out_8741051770711475830[0] = -nom_x[0] + true_x[0]; + out_8741051770711475830[1] = -nom_x[1] + true_x[1]; + out_8741051770711475830[2] = -nom_x[2] + true_x[2]; + out_8741051770711475830[3] = -nom_x[3] + true_x[3]; + out_8741051770711475830[4] = -nom_x[4] + true_x[4]; + out_8741051770711475830[5] = -nom_x[5] + true_x[5]; + out_8741051770711475830[6] = -nom_x[6] + true_x[6]; + out_8741051770711475830[7] = -nom_x[7] + true_x[7]; + out_8741051770711475830[8] = -nom_x[8] + true_x[8]; + out_8741051770711475830[9] = -nom_x[9] + true_x[9]; + out_8741051770711475830[10] = -nom_x[10] + true_x[10]; + out_8741051770711475830[11] = -nom_x[11] + true_x[11]; + out_8741051770711475830[12] = -nom_x[12] + true_x[12]; + out_8741051770711475830[13] = -nom_x[13] + true_x[13]; + out_8741051770711475830[14] = -nom_x[14] + true_x[14]; + out_8741051770711475830[15] = -nom_x[15] + true_x[15]; + out_8741051770711475830[16] = -nom_x[16] + true_x[16]; + out_8741051770711475830[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3068405914716205428) { - out_3068405914716205428[0] = 1.0; - out_3068405914716205428[1] = 0.0; - out_3068405914716205428[2] = 0.0; - out_3068405914716205428[3] = 0.0; - out_3068405914716205428[4] = 0.0; - out_3068405914716205428[5] = 0.0; - out_3068405914716205428[6] = 0.0; - out_3068405914716205428[7] = 0.0; - out_3068405914716205428[8] = 0.0; - out_3068405914716205428[9] = 0.0; - out_3068405914716205428[10] = 0.0; - out_3068405914716205428[11] = 0.0; - out_3068405914716205428[12] = 0.0; - out_3068405914716205428[13] = 0.0; - out_3068405914716205428[14] = 0.0; - out_3068405914716205428[15] = 0.0; - out_3068405914716205428[16] = 0.0; - out_3068405914716205428[17] = 0.0; - out_3068405914716205428[18] = 0.0; - out_3068405914716205428[19] = 1.0; - out_3068405914716205428[20] = 0.0; - out_3068405914716205428[21] = 0.0; - out_3068405914716205428[22] = 0.0; - out_3068405914716205428[23] = 0.0; - out_3068405914716205428[24] = 0.0; - out_3068405914716205428[25] = 0.0; - out_3068405914716205428[26] = 0.0; - out_3068405914716205428[27] = 0.0; - out_3068405914716205428[28] = 0.0; - out_3068405914716205428[29] = 0.0; - out_3068405914716205428[30] = 0.0; - out_3068405914716205428[31] = 0.0; - out_3068405914716205428[32] = 0.0; - out_3068405914716205428[33] = 0.0; - out_3068405914716205428[34] = 0.0; - out_3068405914716205428[35] = 0.0; - out_3068405914716205428[36] = 0.0; - out_3068405914716205428[37] = 0.0; - out_3068405914716205428[38] = 1.0; - out_3068405914716205428[39] = 0.0; - out_3068405914716205428[40] = 0.0; - out_3068405914716205428[41] = 0.0; - out_3068405914716205428[42] = 0.0; - out_3068405914716205428[43] = 0.0; - out_3068405914716205428[44] = 0.0; - out_3068405914716205428[45] = 0.0; - out_3068405914716205428[46] = 0.0; - out_3068405914716205428[47] = 0.0; - out_3068405914716205428[48] = 0.0; - out_3068405914716205428[49] = 0.0; - out_3068405914716205428[50] = 0.0; - out_3068405914716205428[51] = 0.0; - out_3068405914716205428[52] = 0.0; - out_3068405914716205428[53] = 0.0; - out_3068405914716205428[54] = 0.0; - out_3068405914716205428[55] = 0.0; - out_3068405914716205428[56] = 0.0; - out_3068405914716205428[57] = 1.0; - out_3068405914716205428[58] = 0.0; - out_3068405914716205428[59] = 0.0; - out_3068405914716205428[60] = 0.0; - out_3068405914716205428[61] = 0.0; - out_3068405914716205428[62] = 0.0; - out_3068405914716205428[63] = 0.0; - out_3068405914716205428[64] = 0.0; - out_3068405914716205428[65] = 0.0; - out_3068405914716205428[66] = 0.0; - out_3068405914716205428[67] = 0.0; - out_3068405914716205428[68] = 0.0; - out_3068405914716205428[69] = 0.0; - out_3068405914716205428[70] = 0.0; - out_3068405914716205428[71] = 0.0; - out_3068405914716205428[72] = 0.0; - out_3068405914716205428[73] = 0.0; - out_3068405914716205428[74] = 0.0; - out_3068405914716205428[75] = 0.0; - out_3068405914716205428[76] = 1.0; - out_3068405914716205428[77] = 0.0; - out_3068405914716205428[78] = 0.0; - out_3068405914716205428[79] = 0.0; - out_3068405914716205428[80] = 0.0; - out_3068405914716205428[81] = 0.0; - out_3068405914716205428[82] = 0.0; - out_3068405914716205428[83] = 0.0; - out_3068405914716205428[84] = 0.0; - out_3068405914716205428[85] = 0.0; - out_3068405914716205428[86] = 0.0; - out_3068405914716205428[87] = 0.0; - out_3068405914716205428[88] = 0.0; - out_3068405914716205428[89] = 0.0; - out_3068405914716205428[90] = 0.0; - out_3068405914716205428[91] = 0.0; - out_3068405914716205428[92] = 0.0; - out_3068405914716205428[93] = 0.0; - out_3068405914716205428[94] = 0.0; - out_3068405914716205428[95] = 1.0; - out_3068405914716205428[96] = 0.0; - out_3068405914716205428[97] = 0.0; - out_3068405914716205428[98] = 0.0; - out_3068405914716205428[99] = 0.0; - out_3068405914716205428[100] = 0.0; - out_3068405914716205428[101] = 0.0; - out_3068405914716205428[102] = 0.0; - out_3068405914716205428[103] = 0.0; - out_3068405914716205428[104] = 0.0; - out_3068405914716205428[105] = 0.0; - out_3068405914716205428[106] = 0.0; - out_3068405914716205428[107] = 0.0; - out_3068405914716205428[108] = 0.0; - out_3068405914716205428[109] = 0.0; - out_3068405914716205428[110] = 0.0; - out_3068405914716205428[111] = 0.0; - out_3068405914716205428[112] = 0.0; - out_3068405914716205428[113] = 0.0; - out_3068405914716205428[114] = 1.0; - out_3068405914716205428[115] = 0.0; - out_3068405914716205428[116] = 0.0; - out_3068405914716205428[117] = 0.0; - out_3068405914716205428[118] = 0.0; - out_3068405914716205428[119] = 0.0; - out_3068405914716205428[120] = 0.0; - out_3068405914716205428[121] = 0.0; - out_3068405914716205428[122] = 0.0; - out_3068405914716205428[123] = 0.0; - out_3068405914716205428[124] = 0.0; - out_3068405914716205428[125] = 0.0; - out_3068405914716205428[126] = 0.0; - out_3068405914716205428[127] = 0.0; - out_3068405914716205428[128] = 0.0; - out_3068405914716205428[129] = 0.0; - out_3068405914716205428[130] = 0.0; - out_3068405914716205428[131] = 0.0; - out_3068405914716205428[132] = 0.0; - out_3068405914716205428[133] = 1.0; - out_3068405914716205428[134] = 0.0; - out_3068405914716205428[135] = 0.0; - out_3068405914716205428[136] = 0.0; - out_3068405914716205428[137] = 0.0; - out_3068405914716205428[138] = 0.0; - out_3068405914716205428[139] = 0.0; - out_3068405914716205428[140] = 0.0; - out_3068405914716205428[141] = 0.0; - out_3068405914716205428[142] = 0.0; - out_3068405914716205428[143] = 0.0; - out_3068405914716205428[144] = 0.0; - out_3068405914716205428[145] = 0.0; - out_3068405914716205428[146] = 0.0; - out_3068405914716205428[147] = 0.0; - out_3068405914716205428[148] = 0.0; - out_3068405914716205428[149] = 0.0; - out_3068405914716205428[150] = 0.0; - out_3068405914716205428[151] = 0.0; - out_3068405914716205428[152] = 1.0; - out_3068405914716205428[153] = 0.0; - out_3068405914716205428[154] = 0.0; - out_3068405914716205428[155] = 0.0; - out_3068405914716205428[156] = 0.0; - out_3068405914716205428[157] = 0.0; - out_3068405914716205428[158] = 0.0; - out_3068405914716205428[159] = 0.0; - out_3068405914716205428[160] = 0.0; - out_3068405914716205428[161] = 0.0; - out_3068405914716205428[162] = 0.0; - out_3068405914716205428[163] = 0.0; - out_3068405914716205428[164] = 0.0; - out_3068405914716205428[165] = 0.0; - out_3068405914716205428[166] = 0.0; - out_3068405914716205428[167] = 0.0; - out_3068405914716205428[168] = 0.0; - out_3068405914716205428[169] = 0.0; - out_3068405914716205428[170] = 0.0; - out_3068405914716205428[171] = 1.0; - out_3068405914716205428[172] = 0.0; - out_3068405914716205428[173] = 0.0; - out_3068405914716205428[174] = 0.0; - out_3068405914716205428[175] = 0.0; - out_3068405914716205428[176] = 0.0; - out_3068405914716205428[177] = 0.0; - out_3068405914716205428[178] = 0.0; - out_3068405914716205428[179] = 0.0; - out_3068405914716205428[180] = 0.0; - out_3068405914716205428[181] = 0.0; - out_3068405914716205428[182] = 0.0; - out_3068405914716205428[183] = 0.0; - out_3068405914716205428[184] = 0.0; - out_3068405914716205428[185] = 0.0; - out_3068405914716205428[186] = 0.0; - out_3068405914716205428[187] = 0.0; - out_3068405914716205428[188] = 0.0; - out_3068405914716205428[189] = 0.0; - out_3068405914716205428[190] = 1.0; - out_3068405914716205428[191] = 0.0; - out_3068405914716205428[192] = 0.0; - out_3068405914716205428[193] = 0.0; - out_3068405914716205428[194] = 0.0; - out_3068405914716205428[195] = 0.0; - out_3068405914716205428[196] = 0.0; - out_3068405914716205428[197] = 0.0; - out_3068405914716205428[198] = 0.0; - out_3068405914716205428[199] = 0.0; - out_3068405914716205428[200] = 0.0; - out_3068405914716205428[201] = 0.0; - out_3068405914716205428[202] = 0.0; - out_3068405914716205428[203] = 0.0; - out_3068405914716205428[204] = 0.0; - out_3068405914716205428[205] = 0.0; - out_3068405914716205428[206] = 0.0; - out_3068405914716205428[207] = 0.0; - out_3068405914716205428[208] = 0.0; - out_3068405914716205428[209] = 1.0; - out_3068405914716205428[210] = 0.0; - out_3068405914716205428[211] = 0.0; - out_3068405914716205428[212] = 0.0; - out_3068405914716205428[213] = 0.0; - out_3068405914716205428[214] = 0.0; - out_3068405914716205428[215] = 0.0; - out_3068405914716205428[216] = 0.0; - out_3068405914716205428[217] = 0.0; - out_3068405914716205428[218] = 0.0; - out_3068405914716205428[219] = 0.0; - out_3068405914716205428[220] = 0.0; - out_3068405914716205428[221] = 0.0; - out_3068405914716205428[222] = 0.0; - out_3068405914716205428[223] = 0.0; - out_3068405914716205428[224] = 0.0; - out_3068405914716205428[225] = 0.0; - out_3068405914716205428[226] = 0.0; - out_3068405914716205428[227] = 0.0; - out_3068405914716205428[228] = 1.0; - out_3068405914716205428[229] = 0.0; - out_3068405914716205428[230] = 0.0; - out_3068405914716205428[231] = 0.0; - out_3068405914716205428[232] = 0.0; - out_3068405914716205428[233] = 0.0; - out_3068405914716205428[234] = 0.0; - out_3068405914716205428[235] = 0.0; - out_3068405914716205428[236] = 0.0; - out_3068405914716205428[237] = 0.0; - out_3068405914716205428[238] = 0.0; - out_3068405914716205428[239] = 0.0; - out_3068405914716205428[240] = 0.0; - out_3068405914716205428[241] = 0.0; - out_3068405914716205428[242] = 0.0; - out_3068405914716205428[243] = 0.0; - out_3068405914716205428[244] = 0.0; - out_3068405914716205428[245] = 0.0; - out_3068405914716205428[246] = 0.0; - out_3068405914716205428[247] = 1.0; - out_3068405914716205428[248] = 0.0; - out_3068405914716205428[249] = 0.0; - out_3068405914716205428[250] = 0.0; - out_3068405914716205428[251] = 0.0; - out_3068405914716205428[252] = 0.0; - out_3068405914716205428[253] = 0.0; - out_3068405914716205428[254] = 0.0; - out_3068405914716205428[255] = 0.0; - out_3068405914716205428[256] = 0.0; - out_3068405914716205428[257] = 0.0; - out_3068405914716205428[258] = 0.0; - out_3068405914716205428[259] = 0.0; - out_3068405914716205428[260] = 0.0; - out_3068405914716205428[261] = 0.0; - out_3068405914716205428[262] = 0.0; - out_3068405914716205428[263] = 0.0; - out_3068405914716205428[264] = 0.0; - out_3068405914716205428[265] = 0.0; - out_3068405914716205428[266] = 1.0; - out_3068405914716205428[267] = 0.0; - out_3068405914716205428[268] = 0.0; - out_3068405914716205428[269] = 0.0; - out_3068405914716205428[270] = 0.0; - out_3068405914716205428[271] = 0.0; - out_3068405914716205428[272] = 0.0; - out_3068405914716205428[273] = 0.0; - out_3068405914716205428[274] = 0.0; - out_3068405914716205428[275] = 0.0; - out_3068405914716205428[276] = 0.0; - out_3068405914716205428[277] = 0.0; - out_3068405914716205428[278] = 0.0; - out_3068405914716205428[279] = 0.0; - out_3068405914716205428[280] = 0.0; - out_3068405914716205428[281] = 0.0; - out_3068405914716205428[282] = 0.0; - out_3068405914716205428[283] = 0.0; - out_3068405914716205428[284] = 0.0; - out_3068405914716205428[285] = 1.0; - out_3068405914716205428[286] = 0.0; - out_3068405914716205428[287] = 0.0; - out_3068405914716205428[288] = 0.0; - out_3068405914716205428[289] = 0.0; - out_3068405914716205428[290] = 0.0; - out_3068405914716205428[291] = 0.0; - out_3068405914716205428[292] = 0.0; - out_3068405914716205428[293] = 0.0; - out_3068405914716205428[294] = 0.0; - out_3068405914716205428[295] = 0.0; - out_3068405914716205428[296] = 0.0; - out_3068405914716205428[297] = 0.0; - out_3068405914716205428[298] = 0.0; - out_3068405914716205428[299] = 0.0; - out_3068405914716205428[300] = 0.0; - out_3068405914716205428[301] = 0.0; - out_3068405914716205428[302] = 0.0; - out_3068405914716205428[303] = 0.0; - out_3068405914716205428[304] = 1.0; - out_3068405914716205428[305] = 0.0; - out_3068405914716205428[306] = 0.0; - out_3068405914716205428[307] = 0.0; - out_3068405914716205428[308] = 0.0; - out_3068405914716205428[309] = 0.0; - out_3068405914716205428[310] = 0.0; - out_3068405914716205428[311] = 0.0; - out_3068405914716205428[312] = 0.0; - out_3068405914716205428[313] = 0.0; - out_3068405914716205428[314] = 0.0; - out_3068405914716205428[315] = 0.0; - out_3068405914716205428[316] = 0.0; - out_3068405914716205428[317] = 0.0; - out_3068405914716205428[318] = 0.0; - out_3068405914716205428[319] = 0.0; - out_3068405914716205428[320] = 0.0; - out_3068405914716205428[321] = 0.0; - out_3068405914716205428[322] = 0.0; - out_3068405914716205428[323] = 1.0; +void H_mod_fun(double *state, double *out_1900632188772248703) { + out_1900632188772248703[0] = 1.0; + out_1900632188772248703[1] = 0.0; + out_1900632188772248703[2] = 0.0; + out_1900632188772248703[3] = 0.0; + out_1900632188772248703[4] = 0.0; + out_1900632188772248703[5] = 0.0; + out_1900632188772248703[6] = 0.0; + out_1900632188772248703[7] = 0.0; + out_1900632188772248703[8] = 0.0; + out_1900632188772248703[9] = 0.0; + out_1900632188772248703[10] = 0.0; + out_1900632188772248703[11] = 0.0; + out_1900632188772248703[12] = 0.0; + out_1900632188772248703[13] = 0.0; + out_1900632188772248703[14] = 0.0; + out_1900632188772248703[15] = 0.0; + out_1900632188772248703[16] = 0.0; + out_1900632188772248703[17] = 0.0; + out_1900632188772248703[18] = 0.0; + out_1900632188772248703[19] = 1.0; + out_1900632188772248703[20] = 0.0; + out_1900632188772248703[21] = 0.0; + out_1900632188772248703[22] = 0.0; + out_1900632188772248703[23] = 0.0; + out_1900632188772248703[24] = 0.0; + out_1900632188772248703[25] = 0.0; + out_1900632188772248703[26] = 0.0; + out_1900632188772248703[27] = 0.0; + out_1900632188772248703[28] = 0.0; + out_1900632188772248703[29] = 0.0; + out_1900632188772248703[30] = 0.0; + out_1900632188772248703[31] = 0.0; + out_1900632188772248703[32] = 0.0; + out_1900632188772248703[33] = 0.0; + out_1900632188772248703[34] = 0.0; + out_1900632188772248703[35] = 0.0; + out_1900632188772248703[36] = 0.0; + out_1900632188772248703[37] = 0.0; + out_1900632188772248703[38] = 1.0; + out_1900632188772248703[39] = 0.0; + out_1900632188772248703[40] = 0.0; + out_1900632188772248703[41] = 0.0; + out_1900632188772248703[42] = 0.0; + out_1900632188772248703[43] = 0.0; + out_1900632188772248703[44] = 0.0; + out_1900632188772248703[45] = 0.0; + out_1900632188772248703[46] = 0.0; + out_1900632188772248703[47] = 0.0; + out_1900632188772248703[48] = 0.0; + out_1900632188772248703[49] = 0.0; + out_1900632188772248703[50] = 0.0; + out_1900632188772248703[51] = 0.0; + out_1900632188772248703[52] = 0.0; + out_1900632188772248703[53] = 0.0; + out_1900632188772248703[54] = 0.0; + out_1900632188772248703[55] = 0.0; + out_1900632188772248703[56] = 0.0; + out_1900632188772248703[57] = 1.0; + out_1900632188772248703[58] = 0.0; + out_1900632188772248703[59] = 0.0; + out_1900632188772248703[60] = 0.0; + out_1900632188772248703[61] = 0.0; + out_1900632188772248703[62] = 0.0; + out_1900632188772248703[63] = 0.0; + out_1900632188772248703[64] = 0.0; + out_1900632188772248703[65] = 0.0; + out_1900632188772248703[66] = 0.0; + out_1900632188772248703[67] = 0.0; + out_1900632188772248703[68] = 0.0; + out_1900632188772248703[69] = 0.0; + out_1900632188772248703[70] = 0.0; + out_1900632188772248703[71] = 0.0; + out_1900632188772248703[72] = 0.0; + out_1900632188772248703[73] = 0.0; + out_1900632188772248703[74] = 0.0; + out_1900632188772248703[75] = 0.0; + out_1900632188772248703[76] = 1.0; + out_1900632188772248703[77] = 0.0; + out_1900632188772248703[78] = 0.0; + out_1900632188772248703[79] = 0.0; + out_1900632188772248703[80] = 0.0; + out_1900632188772248703[81] = 0.0; + out_1900632188772248703[82] = 0.0; + out_1900632188772248703[83] = 0.0; + out_1900632188772248703[84] = 0.0; + out_1900632188772248703[85] = 0.0; + out_1900632188772248703[86] = 0.0; + out_1900632188772248703[87] = 0.0; + out_1900632188772248703[88] = 0.0; + out_1900632188772248703[89] = 0.0; + out_1900632188772248703[90] = 0.0; + out_1900632188772248703[91] = 0.0; + out_1900632188772248703[92] = 0.0; + out_1900632188772248703[93] = 0.0; + out_1900632188772248703[94] = 0.0; + out_1900632188772248703[95] = 1.0; + out_1900632188772248703[96] = 0.0; + out_1900632188772248703[97] = 0.0; + out_1900632188772248703[98] = 0.0; + out_1900632188772248703[99] = 0.0; + out_1900632188772248703[100] = 0.0; + out_1900632188772248703[101] = 0.0; + out_1900632188772248703[102] = 0.0; + out_1900632188772248703[103] = 0.0; + out_1900632188772248703[104] = 0.0; + out_1900632188772248703[105] = 0.0; + out_1900632188772248703[106] = 0.0; + out_1900632188772248703[107] = 0.0; + out_1900632188772248703[108] = 0.0; + out_1900632188772248703[109] = 0.0; + out_1900632188772248703[110] = 0.0; + out_1900632188772248703[111] = 0.0; + out_1900632188772248703[112] = 0.0; + out_1900632188772248703[113] = 0.0; + out_1900632188772248703[114] = 1.0; + out_1900632188772248703[115] = 0.0; + out_1900632188772248703[116] = 0.0; + out_1900632188772248703[117] = 0.0; + out_1900632188772248703[118] = 0.0; + out_1900632188772248703[119] = 0.0; + out_1900632188772248703[120] = 0.0; + out_1900632188772248703[121] = 0.0; + out_1900632188772248703[122] = 0.0; + out_1900632188772248703[123] = 0.0; + out_1900632188772248703[124] = 0.0; + out_1900632188772248703[125] = 0.0; + out_1900632188772248703[126] = 0.0; + out_1900632188772248703[127] = 0.0; + out_1900632188772248703[128] = 0.0; + out_1900632188772248703[129] = 0.0; + out_1900632188772248703[130] = 0.0; + out_1900632188772248703[131] = 0.0; + out_1900632188772248703[132] = 0.0; + out_1900632188772248703[133] = 1.0; + out_1900632188772248703[134] = 0.0; + out_1900632188772248703[135] = 0.0; + out_1900632188772248703[136] = 0.0; + out_1900632188772248703[137] = 0.0; + out_1900632188772248703[138] = 0.0; + out_1900632188772248703[139] = 0.0; + out_1900632188772248703[140] = 0.0; + out_1900632188772248703[141] = 0.0; + out_1900632188772248703[142] = 0.0; + out_1900632188772248703[143] = 0.0; + out_1900632188772248703[144] = 0.0; + out_1900632188772248703[145] = 0.0; + out_1900632188772248703[146] = 0.0; + out_1900632188772248703[147] = 0.0; + out_1900632188772248703[148] = 0.0; + out_1900632188772248703[149] = 0.0; + out_1900632188772248703[150] = 0.0; + out_1900632188772248703[151] = 0.0; + out_1900632188772248703[152] = 1.0; + out_1900632188772248703[153] = 0.0; + out_1900632188772248703[154] = 0.0; + out_1900632188772248703[155] = 0.0; + out_1900632188772248703[156] = 0.0; + out_1900632188772248703[157] = 0.0; + out_1900632188772248703[158] = 0.0; + out_1900632188772248703[159] = 0.0; + out_1900632188772248703[160] = 0.0; + out_1900632188772248703[161] = 0.0; + out_1900632188772248703[162] = 0.0; + out_1900632188772248703[163] = 0.0; + out_1900632188772248703[164] = 0.0; + out_1900632188772248703[165] = 0.0; + out_1900632188772248703[166] = 0.0; + out_1900632188772248703[167] = 0.0; + out_1900632188772248703[168] = 0.0; + out_1900632188772248703[169] = 0.0; + out_1900632188772248703[170] = 0.0; + out_1900632188772248703[171] = 1.0; + out_1900632188772248703[172] = 0.0; + out_1900632188772248703[173] = 0.0; + out_1900632188772248703[174] = 0.0; + out_1900632188772248703[175] = 0.0; + out_1900632188772248703[176] = 0.0; + out_1900632188772248703[177] = 0.0; + out_1900632188772248703[178] = 0.0; + out_1900632188772248703[179] = 0.0; + out_1900632188772248703[180] = 0.0; + out_1900632188772248703[181] = 0.0; + out_1900632188772248703[182] = 0.0; + out_1900632188772248703[183] = 0.0; + out_1900632188772248703[184] = 0.0; + out_1900632188772248703[185] = 0.0; + out_1900632188772248703[186] = 0.0; + out_1900632188772248703[187] = 0.0; + out_1900632188772248703[188] = 0.0; + out_1900632188772248703[189] = 0.0; + out_1900632188772248703[190] = 1.0; + out_1900632188772248703[191] = 0.0; + out_1900632188772248703[192] = 0.0; + out_1900632188772248703[193] = 0.0; + out_1900632188772248703[194] = 0.0; + out_1900632188772248703[195] = 0.0; + out_1900632188772248703[196] = 0.0; + out_1900632188772248703[197] = 0.0; + out_1900632188772248703[198] = 0.0; + out_1900632188772248703[199] = 0.0; + out_1900632188772248703[200] = 0.0; + out_1900632188772248703[201] = 0.0; + out_1900632188772248703[202] = 0.0; + out_1900632188772248703[203] = 0.0; + out_1900632188772248703[204] = 0.0; + out_1900632188772248703[205] = 0.0; + out_1900632188772248703[206] = 0.0; + out_1900632188772248703[207] = 0.0; + out_1900632188772248703[208] = 0.0; + out_1900632188772248703[209] = 1.0; + out_1900632188772248703[210] = 0.0; + out_1900632188772248703[211] = 0.0; + out_1900632188772248703[212] = 0.0; + out_1900632188772248703[213] = 0.0; + out_1900632188772248703[214] = 0.0; + out_1900632188772248703[215] = 0.0; + out_1900632188772248703[216] = 0.0; + out_1900632188772248703[217] = 0.0; + out_1900632188772248703[218] = 0.0; + out_1900632188772248703[219] = 0.0; + out_1900632188772248703[220] = 0.0; + out_1900632188772248703[221] = 0.0; + out_1900632188772248703[222] = 0.0; + out_1900632188772248703[223] = 0.0; + out_1900632188772248703[224] = 0.0; + out_1900632188772248703[225] = 0.0; + out_1900632188772248703[226] = 0.0; + out_1900632188772248703[227] = 0.0; + out_1900632188772248703[228] = 1.0; + out_1900632188772248703[229] = 0.0; + out_1900632188772248703[230] = 0.0; + out_1900632188772248703[231] = 0.0; + out_1900632188772248703[232] = 0.0; + out_1900632188772248703[233] = 0.0; + out_1900632188772248703[234] = 0.0; + out_1900632188772248703[235] = 0.0; + out_1900632188772248703[236] = 0.0; + out_1900632188772248703[237] = 0.0; + out_1900632188772248703[238] = 0.0; + out_1900632188772248703[239] = 0.0; + out_1900632188772248703[240] = 0.0; + out_1900632188772248703[241] = 0.0; + out_1900632188772248703[242] = 0.0; + out_1900632188772248703[243] = 0.0; + out_1900632188772248703[244] = 0.0; + out_1900632188772248703[245] = 0.0; + out_1900632188772248703[246] = 0.0; + out_1900632188772248703[247] = 1.0; + out_1900632188772248703[248] = 0.0; + out_1900632188772248703[249] = 0.0; + out_1900632188772248703[250] = 0.0; + out_1900632188772248703[251] = 0.0; + out_1900632188772248703[252] = 0.0; + out_1900632188772248703[253] = 0.0; + out_1900632188772248703[254] = 0.0; + out_1900632188772248703[255] = 0.0; + out_1900632188772248703[256] = 0.0; + out_1900632188772248703[257] = 0.0; + out_1900632188772248703[258] = 0.0; + out_1900632188772248703[259] = 0.0; + out_1900632188772248703[260] = 0.0; + out_1900632188772248703[261] = 0.0; + out_1900632188772248703[262] = 0.0; + out_1900632188772248703[263] = 0.0; + out_1900632188772248703[264] = 0.0; + out_1900632188772248703[265] = 0.0; + out_1900632188772248703[266] = 1.0; + out_1900632188772248703[267] = 0.0; + out_1900632188772248703[268] = 0.0; + out_1900632188772248703[269] = 0.0; + out_1900632188772248703[270] = 0.0; + out_1900632188772248703[271] = 0.0; + out_1900632188772248703[272] = 0.0; + out_1900632188772248703[273] = 0.0; + out_1900632188772248703[274] = 0.0; + out_1900632188772248703[275] = 0.0; + out_1900632188772248703[276] = 0.0; + out_1900632188772248703[277] = 0.0; + out_1900632188772248703[278] = 0.0; + out_1900632188772248703[279] = 0.0; + out_1900632188772248703[280] = 0.0; + out_1900632188772248703[281] = 0.0; + out_1900632188772248703[282] = 0.0; + out_1900632188772248703[283] = 0.0; + out_1900632188772248703[284] = 0.0; + out_1900632188772248703[285] = 1.0; + out_1900632188772248703[286] = 0.0; + out_1900632188772248703[287] = 0.0; + out_1900632188772248703[288] = 0.0; + out_1900632188772248703[289] = 0.0; + out_1900632188772248703[290] = 0.0; + out_1900632188772248703[291] = 0.0; + out_1900632188772248703[292] = 0.0; + out_1900632188772248703[293] = 0.0; + out_1900632188772248703[294] = 0.0; + out_1900632188772248703[295] = 0.0; + out_1900632188772248703[296] = 0.0; + out_1900632188772248703[297] = 0.0; + out_1900632188772248703[298] = 0.0; + out_1900632188772248703[299] = 0.0; + out_1900632188772248703[300] = 0.0; + out_1900632188772248703[301] = 0.0; + out_1900632188772248703[302] = 0.0; + out_1900632188772248703[303] = 0.0; + out_1900632188772248703[304] = 1.0; + out_1900632188772248703[305] = 0.0; + out_1900632188772248703[306] = 0.0; + out_1900632188772248703[307] = 0.0; + out_1900632188772248703[308] = 0.0; + out_1900632188772248703[309] = 0.0; + out_1900632188772248703[310] = 0.0; + out_1900632188772248703[311] = 0.0; + out_1900632188772248703[312] = 0.0; + out_1900632188772248703[313] = 0.0; + out_1900632188772248703[314] = 0.0; + out_1900632188772248703[315] = 0.0; + out_1900632188772248703[316] = 0.0; + out_1900632188772248703[317] = 0.0; + out_1900632188772248703[318] = 0.0; + out_1900632188772248703[319] = 0.0; + out_1900632188772248703[320] = 0.0; + out_1900632188772248703[321] = 0.0; + out_1900632188772248703[322] = 0.0; + out_1900632188772248703[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5515990809264108996) { - out_5515990809264108996[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_5515990809264108996[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_5515990809264108996[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_5515990809264108996[3] = dt*state[12] + state[3]; - out_5515990809264108996[4] = dt*state[13] + state[4]; - out_5515990809264108996[5] = dt*state[14] + state[5]; - out_5515990809264108996[6] = state[6]; - out_5515990809264108996[7] = state[7]; - out_5515990809264108996[8] = state[8]; - out_5515990809264108996[9] = state[9]; - out_5515990809264108996[10] = state[10]; - out_5515990809264108996[11] = state[11]; - out_5515990809264108996[12] = state[12]; - out_5515990809264108996[13] = state[13]; - out_5515990809264108996[14] = state[14]; - out_5515990809264108996[15] = state[15]; - out_5515990809264108996[16] = state[16]; - out_5515990809264108996[17] = state[17]; +void f_fun(double *state, double dt, double *out_3077738493587277525) { + out_3077738493587277525[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_3077738493587277525[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_3077738493587277525[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_3077738493587277525[3] = dt*state[12] + state[3]; + out_3077738493587277525[4] = dt*state[13] + state[4]; + out_3077738493587277525[5] = dt*state[14] + state[5]; + out_3077738493587277525[6] = state[6]; + out_3077738493587277525[7] = state[7]; + out_3077738493587277525[8] = state[8]; + out_3077738493587277525[9] = state[9]; + out_3077738493587277525[10] = state[10]; + out_3077738493587277525[11] = state[11]; + out_3077738493587277525[12] = state[12]; + out_3077738493587277525[13] = state[13]; + out_3077738493587277525[14] = state[14]; + out_3077738493587277525[15] = state[15]; + out_3077738493587277525[16] = state[16]; + out_3077738493587277525[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1412435369220653896) { - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[2] = 0; - out_1412435369220653896[3] = 0; - out_1412435369220653896[4] = 0; - out_1412435369220653896[5] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[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_1412435369220653896[9] = 0; - out_1412435369220653896[10] = 0; - out_1412435369220653896[11] = 0; - out_1412435369220653896[12] = 0; - out_1412435369220653896[13] = 0; - out_1412435369220653896[14] = 0; - out_1412435369220653896[15] = 0; - out_1412435369220653896[16] = 0; - out_1412435369220653896[17] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[20] = 0; - out_1412435369220653896[21] = 0; - out_1412435369220653896[22] = 0; - out_1412435369220653896[23] = 0; - out_1412435369220653896[24] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[27] = 0; - out_1412435369220653896[28] = 0; - out_1412435369220653896[29] = 0; - out_1412435369220653896[30] = 0; - out_1412435369220653896[31] = 0; - out_1412435369220653896[32] = 0; - out_1412435369220653896[33] = 0; - out_1412435369220653896[34] = 0; - out_1412435369220653896[35] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[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_1412435369220653896[39] = 0; - out_1412435369220653896[40] = 0; - out_1412435369220653896[41] = 0; - out_1412435369220653896[42] = 0; - out_1412435369220653896[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_1412435369220653896[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_1412435369220653896[45] = 0; - out_1412435369220653896[46] = 0; - out_1412435369220653896[47] = 0; - out_1412435369220653896[48] = 0; - out_1412435369220653896[49] = 0; - out_1412435369220653896[50] = 0; - out_1412435369220653896[51] = 0; - out_1412435369220653896[52] = 0; - out_1412435369220653896[53] = 0; - out_1412435369220653896[54] = 0; - out_1412435369220653896[55] = 0; - out_1412435369220653896[56] = 0; - out_1412435369220653896[57] = 1; - out_1412435369220653896[58] = 0; - out_1412435369220653896[59] = 0; - out_1412435369220653896[60] = 0; - out_1412435369220653896[61] = 0; - out_1412435369220653896[62] = 0; - out_1412435369220653896[63] = 0; - out_1412435369220653896[64] = 0; - out_1412435369220653896[65] = 0; - out_1412435369220653896[66] = dt; - out_1412435369220653896[67] = 0; - out_1412435369220653896[68] = 0; - out_1412435369220653896[69] = 0; - out_1412435369220653896[70] = 0; - out_1412435369220653896[71] = 0; - out_1412435369220653896[72] = 0; - out_1412435369220653896[73] = 0; - out_1412435369220653896[74] = 0; - out_1412435369220653896[75] = 0; - out_1412435369220653896[76] = 1; - out_1412435369220653896[77] = 0; - out_1412435369220653896[78] = 0; - out_1412435369220653896[79] = 0; - out_1412435369220653896[80] = 0; - out_1412435369220653896[81] = 0; - out_1412435369220653896[82] = 0; - out_1412435369220653896[83] = 0; - out_1412435369220653896[84] = 0; - out_1412435369220653896[85] = dt; - out_1412435369220653896[86] = 0; - out_1412435369220653896[87] = 0; - out_1412435369220653896[88] = 0; - out_1412435369220653896[89] = 0; - out_1412435369220653896[90] = 0; - out_1412435369220653896[91] = 0; - out_1412435369220653896[92] = 0; - out_1412435369220653896[93] = 0; - out_1412435369220653896[94] = 0; - out_1412435369220653896[95] = 1; - out_1412435369220653896[96] = 0; - out_1412435369220653896[97] = 0; - out_1412435369220653896[98] = 0; - out_1412435369220653896[99] = 0; - out_1412435369220653896[100] = 0; - out_1412435369220653896[101] = 0; - out_1412435369220653896[102] = 0; - out_1412435369220653896[103] = 0; - out_1412435369220653896[104] = dt; - out_1412435369220653896[105] = 0; - out_1412435369220653896[106] = 0; - out_1412435369220653896[107] = 0; - out_1412435369220653896[108] = 0; - out_1412435369220653896[109] = 0; - out_1412435369220653896[110] = 0; - out_1412435369220653896[111] = 0; - out_1412435369220653896[112] = 0; - out_1412435369220653896[113] = 0; - out_1412435369220653896[114] = 1; - out_1412435369220653896[115] = 0; - out_1412435369220653896[116] = 0; - out_1412435369220653896[117] = 0; - out_1412435369220653896[118] = 0; - out_1412435369220653896[119] = 0; - out_1412435369220653896[120] = 0; - out_1412435369220653896[121] = 0; - out_1412435369220653896[122] = 0; - out_1412435369220653896[123] = 0; - out_1412435369220653896[124] = 0; - out_1412435369220653896[125] = 0; - out_1412435369220653896[126] = 0; - out_1412435369220653896[127] = 0; - out_1412435369220653896[128] = 0; - out_1412435369220653896[129] = 0; - out_1412435369220653896[130] = 0; - out_1412435369220653896[131] = 0; - out_1412435369220653896[132] = 0; - out_1412435369220653896[133] = 1; - out_1412435369220653896[134] = 0; - out_1412435369220653896[135] = 0; - out_1412435369220653896[136] = 0; - out_1412435369220653896[137] = 0; - out_1412435369220653896[138] = 0; - out_1412435369220653896[139] = 0; - out_1412435369220653896[140] = 0; - out_1412435369220653896[141] = 0; - out_1412435369220653896[142] = 0; - out_1412435369220653896[143] = 0; - out_1412435369220653896[144] = 0; - out_1412435369220653896[145] = 0; - out_1412435369220653896[146] = 0; - out_1412435369220653896[147] = 0; - out_1412435369220653896[148] = 0; - out_1412435369220653896[149] = 0; - out_1412435369220653896[150] = 0; - out_1412435369220653896[151] = 0; - out_1412435369220653896[152] = 1; - out_1412435369220653896[153] = 0; - out_1412435369220653896[154] = 0; - out_1412435369220653896[155] = 0; - out_1412435369220653896[156] = 0; - out_1412435369220653896[157] = 0; - out_1412435369220653896[158] = 0; - out_1412435369220653896[159] = 0; - out_1412435369220653896[160] = 0; - out_1412435369220653896[161] = 0; - out_1412435369220653896[162] = 0; - out_1412435369220653896[163] = 0; - out_1412435369220653896[164] = 0; - out_1412435369220653896[165] = 0; - out_1412435369220653896[166] = 0; - out_1412435369220653896[167] = 0; - out_1412435369220653896[168] = 0; - out_1412435369220653896[169] = 0; - out_1412435369220653896[170] = 0; - out_1412435369220653896[171] = 1; - out_1412435369220653896[172] = 0; - out_1412435369220653896[173] = 0; - out_1412435369220653896[174] = 0; - out_1412435369220653896[175] = 0; - out_1412435369220653896[176] = 0; - out_1412435369220653896[177] = 0; - out_1412435369220653896[178] = 0; - out_1412435369220653896[179] = 0; - out_1412435369220653896[180] = 0; - out_1412435369220653896[181] = 0; - out_1412435369220653896[182] = 0; - out_1412435369220653896[183] = 0; - out_1412435369220653896[184] = 0; - out_1412435369220653896[185] = 0; - out_1412435369220653896[186] = 0; - out_1412435369220653896[187] = 0; - out_1412435369220653896[188] = 0; - out_1412435369220653896[189] = 0; - out_1412435369220653896[190] = 1; - out_1412435369220653896[191] = 0; - out_1412435369220653896[192] = 0; - out_1412435369220653896[193] = 0; - out_1412435369220653896[194] = 0; - out_1412435369220653896[195] = 0; - out_1412435369220653896[196] = 0; - out_1412435369220653896[197] = 0; - out_1412435369220653896[198] = 0; - out_1412435369220653896[199] = 0; - out_1412435369220653896[200] = 0; - out_1412435369220653896[201] = 0; - out_1412435369220653896[202] = 0; - out_1412435369220653896[203] = 0; - out_1412435369220653896[204] = 0; - out_1412435369220653896[205] = 0; - out_1412435369220653896[206] = 0; - out_1412435369220653896[207] = 0; - out_1412435369220653896[208] = 0; - out_1412435369220653896[209] = 1; - out_1412435369220653896[210] = 0; - out_1412435369220653896[211] = 0; - out_1412435369220653896[212] = 0; - out_1412435369220653896[213] = 0; - out_1412435369220653896[214] = 0; - out_1412435369220653896[215] = 0; - out_1412435369220653896[216] = 0; - out_1412435369220653896[217] = 0; - out_1412435369220653896[218] = 0; - out_1412435369220653896[219] = 0; - out_1412435369220653896[220] = 0; - out_1412435369220653896[221] = 0; - out_1412435369220653896[222] = 0; - out_1412435369220653896[223] = 0; - out_1412435369220653896[224] = 0; - out_1412435369220653896[225] = 0; - out_1412435369220653896[226] = 0; - out_1412435369220653896[227] = 0; - out_1412435369220653896[228] = 1; - out_1412435369220653896[229] = 0; - out_1412435369220653896[230] = 0; - out_1412435369220653896[231] = 0; - out_1412435369220653896[232] = 0; - out_1412435369220653896[233] = 0; - out_1412435369220653896[234] = 0; - out_1412435369220653896[235] = 0; - out_1412435369220653896[236] = 0; - out_1412435369220653896[237] = 0; - out_1412435369220653896[238] = 0; - out_1412435369220653896[239] = 0; - out_1412435369220653896[240] = 0; - out_1412435369220653896[241] = 0; - out_1412435369220653896[242] = 0; - out_1412435369220653896[243] = 0; - out_1412435369220653896[244] = 0; - out_1412435369220653896[245] = 0; - out_1412435369220653896[246] = 0; - out_1412435369220653896[247] = 1; - out_1412435369220653896[248] = 0; - out_1412435369220653896[249] = 0; - out_1412435369220653896[250] = 0; - out_1412435369220653896[251] = 0; - out_1412435369220653896[252] = 0; - out_1412435369220653896[253] = 0; - out_1412435369220653896[254] = 0; - out_1412435369220653896[255] = 0; - out_1412435369220653896[256] = 0; - out_1412435369220653896[257] = 0; - out_1412435369220653896[258] = 0; - out_1412435369220653896[259] = 0; - out_1412435369220653896[260] = 0; - out_1412435369220653896[261] = 0; - out_1412435369220653896[262] = 0; - out_1412435369220653896[263] = 0; - out_1412435369220653896[264] = 0; - out_1412435369220653896[265] = 0; - out_1412435369220653896[266] = 1; - out_1412435369220653896[267] = 0; - out_1412435369220653896[268] = 0; - out_1412435369220653896[269] = 0; - out_1412435369220653896[270] = 0; - out_1412435369220653896[271] = 0; - out_1412435369220653896[272] = 0; - out_1412435369220653896[273] = 0; - out_1412435369220653896[274] = 0; - out_1412435369220653896[275] = 0; - out_1412435369220653896[276] = 0; - out_1412435369220653896[277] = 0; - out_1412435369220653896[278] = 0; - out_1412435369220653896[279] = 0; - out_1412435369220653896[280] = 0; - out_1412435369220653896[281] = 0; - out_1412435369220653896[282] = 0; - out_1412435369220653896[283] = 0; - out_1412435369220653896[284] = 0; - out_1412435369220653896[285] = 1; - out_1412435369220653896[286] = 0; - out_1412435369220653896[287] = 0; - out_1412435369220653896[288] = 0; - out_1412435369220653896[289] = 0; - out_1412435369220653896[290] = 0; - out_1412435369220653896[291] = 0; - out_1412435369220653896[292] = 0; - out_1412435369220653896[293] = 0; - out_1412435369220653896[294] = 0; - out_1412435369220653896[295] = 0; - out_1412435369220653896[296] = 0; - out_1412435369220653896[297] = 0; - out_1412435369220653896[298] = 0; - out_1412435369220653896[299] = 0; - out_1412435369220653896[300] = 0; - out_1412435369220653896[301] = 0; - out_1412435369220653896[302] = 0; - out_1412435369220653896[303] = 0; - out_1412435369220653896[304] = 1; - out_1412435369220653896[305] = 0; - out_1412435369220653896[306] = 0; - out_1412435369220653896[307] = 0; - out_1412435369220653896[308] = 0; - out_1412435369220653896[309] = 0; - out_1412435369220653896[310] = 0; - out_1412435369220653896[311] = 0; - out_1412435369220653896[312] = 0; - out_1412435369220653896[313] = 0; - out_1412435369220653896[314] = 0; - out_1412435369220653896[315] = 0; - out_1412435369220653896[316] = 0; - out_1412435369220653896[317] = 0; - out_1412435369220653896[318] = 0; - out_1412435369220653896[319] = 0; - out_1412435369220653896[320] = 0; - out_1412435369220653896[321] = 0; - out_1412435369220653896[322] = 0; - out_1412435369220653896[323] = 1; +void F_fun(double *state, double dt, double *out_474426866180563475) { + out_474426866180563475[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_474426866180563475[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_474426866180563475[2] = 0; + out_474426866180563475[3] = 0; + out_474426866180563475[4] = 0; + out_474426866180563475[5] = 0; + out_474426866180563475[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_474426866180563475[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_474426866180563475[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_474426866180563475[9] = 0; + out_474426866180563475[10] = 0; + out_474426866180563475[11] = 0; + out_474426866180563475[12] = 0; + out_474426866180563475[13] = 0; + out_474426866180563475[14] = 0; + out_474426866180563475[15] = 0; + out_474426866180563475[16] = 0; + out_474426866180563475[17] = 0; + out_474426866180563475[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_474426866180563475[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_474426866180563475[20] = 0; + out_474426866180563475[21] = 0; + out_474426866180563475[22] = 0; + out_474426866180563475[23] = 0; + out_474426866180563475[24] = 0; + out_474426866180563475[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_474426866180563475[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_474426866180563475[27] = 0; + out_474426866180563475[28] = 0; + out_474426866180563475[29] = 0; + out_474426866180563475[30] = 0; + out_474426866180563475[31] = 0; + out_474426866180563475[32] = 0; + out_474426866180563475[33] = 0; + out_474426866180563475[34] = 0; + out_474426866180563475[35] = 0; + out_474426866180563475[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_474426866180563475[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_474426866180563475[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_474426866180563475[39] = 0; + out_474426866180563475[40] = 0; + out_474426866180563475[41] = 0; + out_474426866180563475[42] = 0; + out_474426866180563475[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_474426866180563475[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_474426866180563475[45] = 0; + out_474426866180563475[46] = 0; + out_474426866180563475[47] = 0; + out_474426866180563475[48] = 0; + out_474426866180563475[49] = 0; + out_474426866180563475[50] = 0; + out_474426866180563475[51] = 0; + out_474426866180563475[52] = 0; + out_474426866180563475[53] = 0; + out_474426866180563475[54] = 0; + out_474426866180563475[55] = 0; + out_474426866180563475[56] = 0; + out_474426866180563475[57] = 1; + out_474426866180563475[58] = 0; + out_474426866180563475[59] = 0; + out_474426866180563475[60] = 0; + out_474426866180563475[61] = 0; + out_474426866180563475[62] = 0; + out_474426866180563475[63] = 0; + out_474426866180563475[64] = 0; + out_474426866180563475[65] = 0; + out_474426866180563475[66] = dt; + out_474426866180563475[67] = 0; + out_474426866180563475[68] = 0; + out_474426866180563475[69] = 0; + out_474426866180563475[70] = 0; + out_474426866180563475[71] = 0; + out_474426866180563475[72] = 0; + out_474426866180563475[73] = 0; + out_474426866180563475[74] = 0; + out_474426866180563475[75] = 0; + out_474426866180563475[76] = 1; + out_474426866180563475[77] = 0; + out_474426866180563475[78] = 0; + out_474426866180563475[79] = 0; + out_474426866180563475[80] = 0; + out_474426866180563475[81] = 0; + out_474426866180563475[82] = 0; + out_474426866180563475[83] = 0; + out_474426866180563475[84] = 0; + out_474426866180563475[85] = dt; + out_474426866180563475[86] = 0; + out_474426866180563475[87] = 0; + out_474426866180563475[88] = 0; + out_474426866180563475[89] = 0; + out_474426866180563475[90] = 0; + out_474426866180563475[91] = 0; + out_474426866180563475[92] = 0; + out_474426866180563475[93] = 0; + out_474426866180563475[94] = 0; + out_474426866180563475[95] = 1; + out_474426866180563475[96] = 0; + out_474426866180563475[97] = 0; + out_474426866180563475[98] = 0; + out_474426866180563475[99] = 0; + out_474426866180563475[100] = 0; + out_474426866180563475[101] = 0; + out_474426866180563475[102] = 0; + out_474426866180563475[103] = 0; + out_474426866180563475[104] = dt; + out_474426866180563475[105] = 0; + out_474426866180563475[106] = 0; + out_474426866180563475[107] = 0; + out_474426866180563475[108] = 0; + out_474426866180563475[109] = 0; + out_474426866180563475[110] = 0; + out_474426866180563475[111] = 0; + out_474426866180563475[112] = 0; + out_474426866180563475[113] = 0; + out_474426866180563475[114] = 1; + out_474426866180563475[115] = 0; + out_474426866180563475[116] = 0; + out_474426866180563475[117] = 0; + out_474426866180563475[118] = 0; + out_474426866180563475[119] = 0; + out_474426866180563475[120] = 0; + out_474426866180563475[121] = 0; + out_474426866180563475[122] = 0; + out_474426866180563475[123] = 0; + out_474426866180563475[124] = 0; + out_474426866180563475[125] = 0; + out_474426866180563475[126] = 0; + out_474426866180563475[127] = 0; + out_474426866180563475[128] = 0; + out_474426866180563475[129] = 0; + out_474426866180563475[130] = 0; + out_474426866180563475[131] = 0; + out_474426866180563475[132] = 0; + out_474426866180563475[133] = 1; + out_474426866180563475[134] = 0; + out_474426866180563475[135] = 0; + out_474426866180563475[136] = 0; + out_474426866180563475[137] = 0; + out_474426866180563475[138] = 0; + out_474426866180563475[139] = 0; + out_474426866180563475[140] = 0; + out_474426866180563475[141] = 0; + out_474426866180563475[142] = 0; + out_474426866180563475[143] = 0; + out_474426866180563475[144] = 0; + out_474426866180563475[145] = 0; + out_474426866180563475[146] = 0; + out_474426866180563475[147] = 0; + out_474426866180563475[148] = 0; + out_474426866180563475[149] = 0; + out_474426866180563475[150] = 0; + out_474426866180563475[151] = 0; + out_474426866180563475[152] = 1; + out_474426866180563475[153] = 0; + out_474426866180563475[154] = 0; + out_474426866180563475[155] = 0; + out_474426866180563475[156] = 0; + out_474426866180563475[157] = 0; + out_474426866180563475[158] = 0; + out_474426866180563475[159] = 0; + out_474426866180563475[160] = 0; + out_474426866180563475[161] = 0; + out_474426866180563475[162] = 0; + out_474426866180563475[163] = 0; + out_474426866180563475[164] = 0; + out_474426866180563475[165] = 0; + out_474426866180563475[166] = 0; + out_474426866180563475[167] = 0; + out_474426866180563475[168] = 0; + out_474426866180563475[169] = 0; + out_474426866180563475[170] = 0; + out_474426866180563475[171] = 1; + out_474426866180563475[172] = 0; + out_474426866180563475[173] = 0; + out_474426866180563475[174] = 0; + out_474426866180563475[175] = 0; + out_474426866180563475[176] = 0; + out_474426866180563475[177] = 0; + out_474426866180563475[178] = 0; + out_474426866180563475[179] = 0; + out_474426866180563475[180] = 0; + out_474426866180563475[181] = 0; + out_474426866180563475[182] = 0; + out_474426866180563475[183] = 0; + out_474426866180563475[184] = 0; + out_474426866180563475[185] = 0; + out_474426866180563475[186] = 0; + out_474426866180563475[187] = 0; + out_474426866180563475[188] = 0; + out_474426866180563475[189] = 0; + out_474426866180563475[190] = 1; + out_474426866180563475[191] = 0; + out_474426866180563475[192] = 0; + out_474426866180563475[193] = 0; + out_474426866180563475[194] = 0; + out_474426866180563475[195] = 0; + out_474426866180563475[196] = 0; + out_474426866180563475[197] = 0; + out_474426866180563475[198] = 0; + out_474426866180563475[199] = 0; + out_474426866180563475[200] = 0; + out_474426866180563475[201] = 0; + out_474426866180563475[202] = 0; + out_474426866180563475[203] = 0; + out_474426866180563475[204] = 0; + out_474426866180563475[205] = 0; + out_474426866180563475[206] = 0; + out_474426866180563475[207] = 0; + out_474426866180563475[208] = 0; + out_474426866180563475[209] = 1; + out_474426866180563475[210] = 0; + out_474426866180563475[211] = 0; + out_474426866180563475[212] = 0; + out_474426866180563475[213] = 0; + out_474426866180563475[214] = 0; + out_474426866180563475[215] = 0; + out_474426866180563475[216] = 0; + out_474426866180563475[217] = 0; + out_474426866180563475[218] = 0; + out_474426866180563475[219] = 0; + out_474426866180563475[220] = 0; + out_474426866180563475[221] = 0; + out_474426866180563475[222] = 0; + out_474426866180563475[223] = 0; + out_474426866180563475[224] = 0; + out_474426866180563475[225] = 0; + out_474426866180563475[226] = 0; + out_474426866180563475[227] = 0; + out_474426866180563475[228] = 1; + out_474426866180563475[229] = 0; + out_474426866180563475[230] = 0; + out_474426866180563475[231] = 0; + out_474426866180563475[232] = 0; + out_474426866180563475[233] = 0; + out_474426866180563475[234] = 0; + out_474426866180563475[235] = 0; + out_474426866180563475[236] = 0; + out_474426866180563475[237] = 0; + out_474426866180563475[238] = 0; + out_474426866180563475[239] = 0; + out_474426866180563475[240] = 0; + out_474426866180563475[241] = 0; + out_474426866180563475[242] = 0; + out_474426866180563475[243] = 0; + out_474426866180563475[244] = 0; + out_474426866180563475[245] = 0; + out_474426866180563475[246] = 0; + out_474426866180563475[247] = 1; + out_474426866180563475[248] = 0; + out_474426866180563475[249] = 0; + out_474426866180563475[250] = 0; + out_474426866180563475[251] = 0; + out_474426866180563475[252] = 0; + out_474426866180563475[253] = 0; + out_474426866180563475[254] = 0; + out_474426866180563475[255] = 0; + out_474426866180563475[256] = 0; + out_474426866180563475[257] = 0; + out_474426866180563475[258] = 0; + out_474426866180563475[259] = 0; + out_474426866180563475[260] = 0; + out_474426866180563475[261] = 0; + out_474426866180563475[262] = 0; + out_474426866180563475[263] = 0; + out_474426866180563475[264] = 0; + out_474426866180563475[265] = 0; + out_474426866180563475[266] = 1; + out_474426866180563475[267] = 0; + out_474426866180563475[268] = 0; + out_474426866180563475[269] = 0; + out_474426866180563475[270] = 0; + out_474426866180563475[271] = 0; + out_474426866180563475[272] = 0; + out_474426866180563475[273] = 0; + out_474426866180563475[274] = 0; + out_474426866180563475[275] = 0; + out_474426866180563475[276] = 0; + out_474426866180563475[277] = 0; + out_474426866180563475[278] = 0; + out_474426866180563475[279] = 0; + out_474426866180563475[280] = 0; + out_474426866180563475[281] = 0; + out_474426866180563475[282] = 0; + out_474426866180563475[283] = 0; + out_474426866180563475[284] = 0; + out_474426866180563475[285] = 1; + out_474426866180563475[286] = 0; + out_474426866180563475[287] = 0; + out_474426866180563475[288] = 0; + out_474426866180563475[289] = 0; + out_474426866180563475[290] = 0; + out_474426866180563475[291] = 0; + out_474426866180563475[292] = 0; + out_474426866180563475[293] = 0; + out_474426866180563475[294] = 0; + out_474426866180563475[295] = 0; + out_474426866180563475[296] = 0; + out_474426866180563475[297] = 0; + out_474426866180563475[298] = 0; + out_474426866180563475[299] = 0; + out_474426866180563475[300] = 0; + out_474426866180563475[301] = 0; + out_474426866180563475[302] = 0; + out_474426866180563475[303] = 0; + out_474426866180563475[304] = 1; + out_474426866180563475[305] = 0; + out_474426866180563475[306] = 0; + out_474426866180563475[307] = 0; + out_474426866180563475[308] = 0; + out_474426866180563475[309] = 0; + out_474426866180563475[310] = 0; + out_474426866180563475[311] = 0; + out_474426866180563475[312] = 0; + out_474426866180563475[313] = 0; + out_474426866180563475[314] = 0; + out_474426866180563475[315] = 0; + out_474426866180563475[316] = 0; + out_474426866180563475[317] = 0; + out_474426866180563475[318] = 0; + out_474426866180563475[319] = 0; + out_474426866180563475[320] = 0; + out_474426866180563475[321] = 0; + out_474426866180563475[322] = 0; + out_474426866180563475[323] = 1; } -void h_4(double *state, double *unused, double *out_7211674724064901455) { - out_7211674724064901455[0] = state[6] + state[9]; - out_7211674724064901455[1] = state[7] + state[10]; - out_7211674724064901455[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_616527671886839495) { + out_616527671886839495[0] = state[6] + state[9]; + out_616527671886839495[1] = state[7] + state[10]; + out_616527671886839495[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8220924299755286163) { - out_8220924299755286163[0] = 0; - out_8220924299755286163[1] = 0; - out_8220924299755286163[2] = 0; - out_8220924299755286163[3] = 0; - out_8220924299755286163[4] = 0; - out_8220924299755286163[5] = 0; - out_8220924299755286163[6] = 1; - out_8220924299755286163[7] = 0; - out_8220924299755286163[8] = 0; - out_8220924299755286163[9] = 1; - out_8220924299755286163[10] = 0; - out_8220924299755286163[11] = 0; - out_8220924299755286163[12] = 0; - out_8220924299755286163[13] = 0; - out_8220924299755286163[14] = 0; - out_8220924299755286163[15] = 0; - out_8220924299755286163[16] = 0; - out_8220924299755286163[17] = 0; - out_8220924299755286163[18] = 0; - out_8220924299755286163[19] = 0; - out_8220924299755286163[20] = 0; - out_8220924299755286163[21] = 0; - out_8220924299755286163[22] = 0; - out_8220924299755286163[23] = 0; - out_8220924299755286163[24] = 0; - out_8220924299755286163[25] = 1; - out_8220924299755286163[26] = 0; - out_8220924299755286163[27] = 0; - out_8220924299755286163[28] = 1; - out_8220924299755286163[29] = 0; - out_8220924299755286163[30] = 0; - out_8220924299755286163[31] = 0; - out_8220924299755286163[32] = 0; - out_8220924299755286163[33] = 0; - out_8220924299755286163[34] = 0; - out_8220924299755286163[35] = 0; - out_8220924299755286163[36] = 0; - out_8220924299755286163[37] = 0; - out_8220924299755286163[38] = 0; - out_8220924299755286163[39] = 0; - out_8220924299755286163[40] = 0; - out_8220924299755286163[41] = 0; - out_8220924299755286163[42] = 0; - out_8220924299755286163[43] = 0; - out_8220924299755286163[44] = 1; - out_8220924299755286163[45] = 0; - out_8220924299755286163[46] = 0; - out_8220924299755286163[47] = 1; - out_8220924299755286163[48] = 0; - out_8220924299755286163[49] = 0; - out_8220924299755286163[50] = 0; - out_8220924299755286163[51] = 0; - out_8220924299755286163[52] = 0; - out_8220924299755286163[53] = 0; +void H_4(double *state, double *unused, double *out_702684706889350599) { + out_702684706889350599[0] = 0; + out_702684706889350599[1] = 0; + out_702684706889350599[2] = 0; + out_702684706889350599[3] = 0; + out_702684706889350599[4] = 0; + out_702684706889350599[5] = 0; + out_702684706889350599[6] = 1; + out_702684706889350599[7] = 0; + out_702684706889350599[8] = 0; + out_702684706889350599[9] = 1; + out_702684706889350599[10] = 0; + out_702684706889350599[11] = 0; + out_702684706889350599[12] = 0; + out_702684706889350599[13] = 0; + out_702684706889350599[14] = 0; + out_702684706889350599[15] = 0; + out_702684706889350599[16] = 0; + out_702684706889350599[17] = 0; + out_702684706889350599[18] = 0; + out_702684706889350599[19] = 0; + out_702684706889350599[20] = 0; + out_702684706889350599[21] = 0; + out_702684706889350599[22] = 0; + out_702684706889350599[23] = 0; + out_702684706889350599[24] = 0; + out_702684706889350599[25] = 1; + out_702684706889350599[26] = 0; + out_702684706889350599[27] = 0; + out_702684706889350599[28] = 1; + out_702684706889350599[29] = 0; + out_702684706889350599[30] = 0; + out_702684706889350599[31] = 0; + out_702684706889350599[32] = 0; + out_702684706889350599[33] = 0; + out_702684706889350599[34] = 0; + out_702684706889350599[35] = 0; + out_702684706889350599[36] = 0; + out_702684706889350599[37] = 0; + out_702684706889350599[38] = 0; + out_702684706889350599[39] = 0; + out_702684706889350599[40] = 0; + out_702684706889350599[41] = 0; + out_702684706889350599[42] = 0; + out_702684706889350599[43] = 0; + out_702684706889350599[44] = 1; + out_702684706889350599[45] = 0; + out_702684706889350599[46] = 0; + out_702684706889350599[47] = 1; + out_702684706889350599[48] = 0; + out_702684706889350599[49] = 0; + out_702684706889350599[50] = 0; + out_702684706889350599[51] = 0; + out_702684706889350599[52] = 0; + out_702684706889350599[53] = 0; } -void h_10(double *state, double *unused, double *out_7091555343827122853) { - out_7091555343827122853[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7091555343827122853[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7091555343827122853[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_767369525646024651) { + out_767369525646024651[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_767369525646024651[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_767369525646024651[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_3357399461201359920) { - out_3357399461201359920[0] = 0; - out_3357399461201359920[1] = 9.8100000000000005*cos(state[1]); - out_3357399461201359920[2] = 0; - out_3357399461201359920[3] = 0; - out_3357399461201359920[4] = -state[8]; - out_3357399461201359920[5] = state[7]; - out_3357399461201359920[6] = 0; - out_3357399461201359920[7] = state[5]; - out_3357399461201359920[8] = -state[4]; - out_3357399461201359920[9] = 0; - out_3357399461201359920[10] = 0; - out_3357399461201359920[11] = 0; - out_3357399461201359920[12] = 1; - out_3357399461201359920[13] = 0; - out_3357399461201359920[14] = 0; - out_3357399461201359920[15] = 1; - out_3357399461201359920[16] = 0; - out_3357399461201359920[17] = 0; - out_3357399461201359920[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3357399461201359920[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3357399461201359920[20] = 0; - out_3357399461201359920[21] = state[8]; - out_3357399461201359920[22] = 0; - out_3357399461201359920[23] = -state[6]; - out_3357399461201359920[24] = -state[5]; - out_3357399461201359920[25] = 0; - out_3357399461201359920[26] = state[3]; - out_3357399461201359920[27] = 0; - out_3357399461201359920[28] = 0; - out_3357399461201359920[29] = 0; - out_3357399461201359920[30] = 0; - out_3357399461201359920[31] = 1; - out_3357399461201359920[32] = 0; - out_3357399461201359920[33] = 0; - out_3357399461201359920[34] = 1; - out_3357399461201359920[35] = 0; - out_3357399461201359920[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3357399461201359920[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3357399461201359920[38] = 0; - out_3357399461201359920[39] = -state[7]; - out_3357399461201359920[40] = state[6]; - out_3357399461201359920[41] = 0; - out_3357399461201359920[42] = state[4]; - out_3357399461201359920[43] = -state[3]; - out_3357399461201359920[44] = 0; - out_3357399461201359920[45] = 0; - out_3357399461201359920[46] = 0; - out_3357399461201359920[47] = 0; - out_3357399461201359920[48] = 0; - out_3357399461201359920[49] = 0; - out_3357399461201359920[50] = 1; - out_3357399461201359920[51] = 0; - out_3357399461201359920[52] = 0; - out_3357399461201359920[53] = 1; +void H_10(double *state, double *unused, double *out_8347276505705953254) { + out_8347276505705953254[0] = 0; + out_8347276505705953254[1] = 9.8100000000000005*cos(state[1]); + out_8347276505705953254[2] = 0; + out_8347276505705953254[3] = 0; + out_8347276505705953254[4] = -state[8]; + out_8347276505705953254[5] = state[7]; + out_8347276505705953254[6] = 0; + out_8347276505705953254[7] = state[5]; + out_8347276505705953254[8] = -state[4]; + out_8347276505705953254[9] = 0; + out_8347276505705953254[10] = 0; + out_8347276505705953254[11] = 0; + out_8347276505705953254[12] = 1; + out_8347276505705953254[13] = 0; + out_8347276505705953254[14] = 0; + out_8347276505705953254[15] = 1; + out_8347276505705953254[16] = 0; + out_8347276505705953254[17] = 0; + out_8347276505705953254[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8347276505705953254[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8347276505705953254[20] = 0; + out_8347276505705953254[21] = state[8]; + out_8347276505705953254[22] = 0; + out_8347276505705953254[23] = -state[6]; + out_8347276505705953254[24] = -state[5]; + out_8347276505705953254[25] = 0; + out_8347276505705953254[26] = state[3]; + out_8347276505705953254[27] = 0; + out_8347276505705953254[28] = 0; + out_8347276505705953254[29] = 0; + out_8347276505705953254[30] = 0; + out_8347276505705953254[31] = 1; + out_8347276505705953254[32] = 0; + out_8347276505705953254[33] = 0; + out_8347276505705953254[34] = 1; + out_8347276505705953254[35] = 0; + out_8347276505705953254[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8347276505705953254[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8347276505705953254[38] = 0; + out_8347276505705953254[39] = -state[7]; + out_8347276505705953254[40] = state[6]; + out_8347276505705953254[41] = 0; + out_8347276505705953254[42] = state[4]; + out_8347276505705953254[43] = -state[3]; + out_8347276505705953254[44] = 0; + out_8347276505705953254[45] = 0; + out_8347276505705953254[46] = 0; + out_8347276505705953254[47] = 0; + out_8347276505705953254[48] = 0; + out_8347276505705953254[49] = 0; + out_8347276505705953254[50] = 1; + out_8347276505705953254[51] = 0; + out_8347276505705953254[52] = 0; + out_8347276505705953254[53] = 1; } -void h_13(double *state, double *unused, double *out_4463366606757688719) { - out_4463366606757688719[0] = state[3]; - out_4463366606757688719[1] = state[4]; - out_4463366606757688719[2] = state[5]; +void h_13(double *state, double *unused, double *out_7518652466578138352) { + out_7518652466578138352[0] = state[3]; + out_7518652466578138352[1] = state[4]; + out_7518652466578138352[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7013545948621932652) { - out_7013545948621932652[0] = 0; - out_7013545948621932652[1] = 0; - out_7013545948621932652[2] = 0; - out_7013545948621932652[3] = 1; - out_7013545948621932652[4] = 0; - out_7013545948621932652[5] = 0; - out_7013545948621932652[6] = 0; - out_7013545948621932652[7] = 0; - out_7013545948621932652[8] = 0; - out_7013545948621932652[9] = 0; - out_7013545948621932652[10] = 0; - out_7013545948621932652[11] = 0; - out_7013545948621932652[12] = 0; - out_7013545948621932652[13] = 0; - out_7013545948621932652[14] = 0; - out_7013545948621932652[15] = 0; - out_7013545948621932652[16] = 0; - out_7013545948621932652[17] = 0; - out_7013545948621932652[18] = 0; - out_7013545948621932652[19] = 0; - out_7013545948621932652[20] = 0; - out_7013545948621932652[21] = 0; - out_7013545948621932652[22] = 1; - out_7013545948621932652[23] = 0; - out_7013545948621932652[24] = 0; - out_7013545948621932652[25] = 0; - out_7013545948621932652[26] = 0; - out_7013545948621932652[27] = 0; - out_7013545948621932652[28] = 0; - out_7013545948621932652[29] = 0; - out_7013545948621932652[30] = 0; - out_7013545948621932652[31] = 0; - out_7013545948621932652[32] = 0; - out_7013545948621932652[33] = 0; - out_7013545948621932652[34] = 0; - out_7013545948621932652[35] = 0; - out_7013545948621932652[36] = 0; - out_7013545948621932652[37] = 0; - out_7013545948621932652[38] = 0; - out_7013545948621932652[39] = 0; - out_7013545948621932652[40] = 0; - out_7013545948621932652[41] = 1; - out_7013545948621932652[42] = 0; - out_7013545948621932652[43] = 0; - out_7013545948621932652[44] = 0; - out_7013545948621932652[45] = 0; - out_7013545948621932652[46] = 0; - out_7013545948621932652[47] = 0; - out_7013545948621932652[48] = 0; - out_7013545948621932652[49] = 0; - out_7013545948621932652[50] = 0; - out_7013545948621932652[51] = 0; - out_7013545948621932652[52] = 0; - out_7013545948621932652[53] = 0; +void H_13(double *state, double *unused, double *out_2509589118442982202) { + out_2509589118442982202[0] = 0; + out_2509589118442982202[1] = 0; + out_2509589118442982202[2] = 0; + out_2509589118442982202[3] = 1; + out_2509589118442982202[4] = 0; + out_2509589118442982202[5] = 0; + out_2509589118442982202[6] = 0; + out_2509589118442982202[7] = 0; + out_2509589118442982202[8] = 0; + out_2509589118442982202[9] = 0; + out_2509589118442982202[10] = 0; + out_2509589118442982202[11] = 0; + out_2509589118442982202[12] = 0; + out_2509589118442982202[13] = 0; + out_2509589118442982202[14] = 0; + out_2509589118442982202[15] = 0; + out_2509589118442982202[16] = 0; + out_2509589118442982202[17] = 0; + out_2509589118442982202[18] = 0; + out_2509589118442982202[19] = 0; + out_2509589118442982202[20] = 0; + out_2509589118442982202[21] = 0; + out_2509589118442982202[22] = 1; + out_2509589118442982202[23] = 0; + out_2509589118442982202[24] = 0; + out_2509589118442982202[25] = 0; + out_2509589118442982202[26] = 0; + out_2509589118442982202[27] = 0; + out_2509589118442982202[28] = 0; + out_2509589118442982202[29] = 0; + out_2509589118442982202[30] = 0; + out_2509589118442982202[31] = 0; + out_2509589118442982202[32] = 0; + out_2509589118442982202[33] = 0; + out_2509589118442982202[34] = 0; + out_2509589118442982202[35] = 0; + out_2509589118442982202[36] = 0; + out_2509589118442982202[37] = 0; + out_2509589118442982202[38] = 0; + out_2509589118442982202[39] = 0; + out_2509589118442982202[40] = 0; + out_2509589118442982202[41] = 1; + out_2509589118442982202[42] = 0; + out_2509589118442982202[43] = 0; + out_2509589118442982202[44] = 0; + out_2509589118442982202[45] = 0; + out_2509589118442982202[46] = 0; + out_2509589118442982202[47] = 0; + out_2509589118442982202[48] = 0; + out_2509589118442982202[49] = 0; + out_2509589118442982202[50] = 0; + out_2509589118442982202[51] = 0; + out_2509589118442982202[52] = 0; + out_2509589118442982202[53] = 0; } -void h_14(double *state, double *unused, double *out_2594435200759890716) { - out_2594435200759890716[0] = state[6]; - out_2594435200759890716[1] = state[7]; - out_2594435200759890716[2] = state[8]; +void h_14(double *state, double *unused, double *out_7727744869207997497) { + out_7727744869207997497[0] = state[6]; + out_7727744869207997497[1] = state[7]; + out_7727744869207997497[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6262578917614780924) { - out_6262578917614780924[0] = 0; - out_6262578917614780924[1] = 0; - out_6262578917614780924[2] = 0; - out_6262578917614780924[3] = 0; - out_6262578917614780924[4] = 0; - out_6262578917614780924[5] = 0; - out_6262578917614780924[6] = 1; - out_6262578917614780924[7] = 0; - out_6262578917614780924[8] = 0; - out_6262578917614780924[9] = 0; - out_6262578917614780924[10] = 0; - out_6262578917614780924[11] = 0; - out_6262578917614780924[12] = 0; - out_6262578917614780924[13] = 0; - out_6262578917614780924[14] = 0; - out_6262578917614780924[15] = 0; - out_6262578917614780924[16] = 0; - out_6262578917614780924[17] = 0; - out_6262578917614780924[18] = 0; - out_6262578917614780924[19] = 0; - out_6262578917614780924[20] = 0; - out_6262578917614780924[21] = 0; - out_6262578917614780924[22] = 0; - out_6262578917614780924[23] = 0; - out_6262578917614780924[24] = 0; - out_6262578917614780924[25] = 1; - out_6262578917614780924[26] = 0; - out_6262578917614780924[27] = 0; - out_6262578917614780924[28] = 0; - out_6262578917614780924[29] = 0; - out_6262578917614780924[30] = 0; - out_6262578917614780924[31] = 0; - out_6262578917614780924[32] = 0; - out_6262578917614780924[33] = 0; - out_6262578917614780924[34] = 0; - out_6262578917614780924[35] = 0; - out_6262578917614780924[36] = 0; - out_6262578917614780924[37] = 0; - out_6262578917614780924[38] = 0; - out_6262578917614780924[39] = 0; - out_6262578917614780924[40] = 0; - out_6262578917614780924[41] = 0; - out_6262578917614780924[42] = 0; - out_6262578917614780924[43] = 0; - out_6262578917614780924[44] = 1; - out_6262578917614780924[45] = 0; - out_6262578917614780924[46] = 0; - out_6262578917614780924[47] = 0; - out_6262578917614780924[48] = 0; - out_6262578917614780924[49] = 0; - out_6262578917614780924[50] = 0; - out_6262578917614780924[51] = 0; - out_6262578917614780924[52] = 0; - out_6262578917614780924[53] = 0; +void H_14(double *state, double *unused, double *out_8183830522169091023) { + out_8183830522169091023[0] = 0; + out_8183830522169091023[1] = 0; + out_8183830522169091023[2] = 0; + out_8183830522169091023[3] = 0; + out_8183830522169091023[4] = 0; + out_8183830522169091023[5] = 0; + out_8183830522169091023[6] = 1; + out_8183830522169091023[7] = 0; + out_8183830522169091023[8] = 0; + out_8183830522169091023[9] = 0; + out_8183830522169091023[10] = 0; + out_8183830522169091023[11] = 0; + out_8183830522169091023[12] = 0; + out_8183830522169091023[13] = 0; + out_8183830522169091023[14] = 0; + out_8183830522169091023[15] = 0; + out_8183830522169091023[16] = 0; + out_8183830522169091023[17] = 0; + out_8183830522169091023[18] = 0; + out_8183830522169091023[19] = 0; + out_8183830522169091023[20] = 0; + out_8183830522169091023[21] = 0; + out_8183830522169091023[22] = 0; + out_8183830522169091023[23] = 0; + out_8183830522169091023[24] = 0; + out_8183830522169091023[25] = 1; + out_8183830522169091023[26] = 0; + out_8183830522169091023[27] = 0; + out_8183830522169091023[28] = 0; + out_8183830522169091023[29] = 0; + out_8183830522169091023[30] = 0; + out_8183830522169091023[31] = 0; + out_8183830522169091023[32] = 0; + out_8183830522169091023[33] = 0; + out_8183830522169091023[34] = 0; + out_8183830522169091023[35] = 0; + out_8183830522169091023[36] = 0; + out_8183830522169091023[37] = 0; + out_8183830522169091023[38] = 0; + out_8183830522169091023[39] = 0; + out_8183830522169091023[40] = 0; + out_8183830522169091023[41] = 0; + out_8183830522169091023[42] = 0; + out_8183830522169091023[43] = 0; + out_8183830522169091023[44] = 1; + out_8183830522169091023[45] = 0; + out_8183830522169091023[46] = 0; + out_8183830522169091023[47] = 0; + out_8183830522169091023[48] = 0; + out_8183830522169091023[49] = 0; + out_8183830522169091023[50] = 0; + out_8183830522169091023[51] = 0; + out_8183830522169091023[52] = 0; + out_8183830522169091023[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_4409321269442810496) { - err_fun(nom_x, delta_x, out_4409321269442810496); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8230036097863094971) { + err_fun(nom_x, delta_x, out_8230036097863094971); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3789556254182165506) { - inv_err_fun(nom_x, true_x, out_3789556254182165506); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8741051770711475830) { + inv_err_fun(nom_x, true_x, out_8741051770711475830); } -void pose_H_mod_fun(double *state, double *out_3068405914716205428) { - H_mod_fun(state, out_3068405914716205428); +void pose_H_mod_fun(double *state, double *out_1900632188772248703) { + H_mod_fun(state, out_1900632188772248703); } -void pose_f_fun(double *state, double dt, double *out_5515990809264108996) { - f_fun(state, dt, out_5515990809264108996); +void pose_f_fun(double *state, double dt, double *out_3077738493587277525) { + f_fun(state, dt, out_3077738493587277525); } -void pose_F_fun(double *state, double dt, double *out_1412435369220653896) { - F_fun(state, dt, out_1412435369220653896); +void pose_F_fun(double *state, double dt, double *out_474426866180563475) { + F_fun(state, dt, out_474426866180563475); } -void pose_h_4(double *state, double *unused, double *out_7211674724064901455) { - h_4(state, unused, out_7211674724064901455); +void pose_h_4(double *state, double *unused, double *out_616527671886839495) { + h_4(state, unused, out_616527671886839495); } -void pose_H_4(double *state, double *unused, double *out_8220924299755286163) { - H_4(state, unused, out_8220924299755286163); +void pose_H_4(double *state, double *unused, double *out_702684706889350599) { + H_4(state, unused, out_702684706889350599); } -void pose_h_10(double *state, double *unused, double *out_7091555343827122853) { - h_10(state, unused, out_7091555343827122853); +void pose_h_10(double *state, double *unused, double *out_767369525646024651) { + h_10(state, unused, out_767369525646024651); } -void pose_H_10(double *state, double *unused, double *out_3357399461201359920) { - H_10(state, unused, out_3357399461201359920); +void pose_H_10(double *state, double *unused, double *out_8347276505705953254) { + H_10(state, unused, out_8347276505705953254); } -void pose_h_13(double *state, double *unused, double *out_4463366606757688719) { - h_13(state, unused, out_4463366606757688719); +void pose_h_13(double *state, double *unused, double *out_7518652466578138352) { + h_13(state, unused, out_7518652466578138352); } -void pose_H_13(double *state, double *unused, double *out_7013545948621932652) { - H_13(state, unused, out_7013545948621932652); +void pose_H_13(double *state, double *unused, double *out_2509589118442982202) { + H_13(state, unused, out_2509589118442982202); } -void pose_h_14(double *state, double *unused, double *out_2594435200759890716) { - h_14(state, unused, out_2594435200759890716); +void pose_h_14(double *state, double *unused, double *out_7727744869207997497) { + h_14(state, unused, out_7727744869207997497); } -void pose_H_14(double *state, double *unused, double *out_6262578917614780924) { - H_14(state, unused, out_6262578917614780924); +void pose_H_14(double *state, double *unused, double *out_8183830522169091023) { + H_14(state, unused, out_8183830522169091023); } 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 4e3bcad58..9763b17db 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_4409321269442810496); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3789556254182165506); -void pose_H_mod_fun(double *state, double *out_3068405914716205428); -void pose_f_fun(double *state, double dt, double *out_5515990809264108996); -void pose_F_fun(double *state, double dt, double *out_1412435369220653896); -void pose_h_4(double *state, double *unused, double *out_7211674724064901455); -void pose_H_4(double *state, double *unused, double *out_8220924299755286163); -void pose_h_10(double *state, double *unused, double *out_7091555343827122853); -void pose_H_10(double *state, double *unused, double *out_3357399461201359920); -void pose_h_13(double *state, double *unused, double *out_4463366606757688719); -void pose_H_13(double *state, double *unused, double *out_7013545948621932652); -void pose_h_14(double *state, double *unused, double *out_2594435200759890716); -void pose_H_14(double *state, double *unused, double *out_6262578917614780924); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8230036097863094971); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8741051770711475830); +void pose_H_mod_fun(double *state, double *out_1900632188772248703); +void pose_f_fun(double *state, double dt, double *out_3077738493587277525); +void pose_F_fun(double *state, double dt, double *out_474426866180563475); +void pose_h_4(double *state, double *unused, double *out_616527671886839495); +void pose_H_4(double *state, double *unused, double *out_702684706889350599); +void pose_h_10(double *state, double *unused, double *out_767369525646024651); +void pose_H_10(double *state, double *unused, double *out_8347276505705953254); +void pose_h_13(double *state, double *unused, double *out_7518652466578138352); +void pose_H_13(double *state, double *unused, double *out_2509589118442982202); +void pose_h_14(double *state, double *unused, double *out_7727744869207997497); +void pose_H_14(double *state, double *unused, double *out_8183830522169091023); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index f4cd6cb6b..2bd6cdd04 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 51fd93134..fe7409c42 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index e545d97f9..d8bdeb8be 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 7045066ad..ec5040651 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index fbbda7bed..915c4e9ff 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ