diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 4ba1a060d..3e5fdd248 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 8b7c4ce0c..20f4fc1ef 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 a3f3eeac1..844dbecc5 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 908a0b9ac..28d8a16f0 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 7a8a27187..2cacbe9d3 100755 Binary files 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uint8_t gitversion[19] = "DEV-57a36f06-DEBUG"; +const uint8_t gitversion[19] = "DEV-891c1eb8-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 97ba58788..58dcba39f 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 eab8923c3..7c8c5c52f 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 4ee013290..3914c4734 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 c974a18d7..8f7124eaf 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 b5454bbb0..72dab6b98 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 810891490..ab44cca11 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-57a36f06-DEBUG \ No newline at end of file +DEV-891c1eb8-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 18b969575..c87bf6a7f 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_1054824998219177113) { - out_1054824998219177113[0] = delta_x[0] + nom_x[0]; - out_1054824998219177113[1] = delta_x[1] + nom_x[1]; - out_1054824998219177113[2] = delta_x[2] + nom_x[2]; - out_1054824998219177113[3] = delta_x[3] + nom_x[3]; - out_1054824998219177113[4] = delta_x[4] + nom_x[4]; - out_1054824998219177113[5] = delta_x[5] + nom_x[5]; - out_1054824998219177113[6] = delta_x[6] + nom_x[6]; - out_1054824998219177113[7] = delta_x[7] + nom_x[7]; - out_1054824998219177113[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3577007229449845283) { + out_3577007229449845283[0] = delta_x[0] + nom_x[0]; + out_3577007229449845283[1] = delta_x[1] + nom_x[1]; + out_3577007229449845283[2] = delta_x[2] + nom_x[2]; + out_3577007229449845283[3] = delta_x[3] + nom_x[3]; + out_3577007229449845283[4] = delta_x[4] + nom_x[4]; + out_3577007229449845283[5] = delta_x[5] + nom_x[5]; + out_3577007229449845283[6] = delta_x[6] + nom_x[6]; + out_3577007229449845283[7] = delta_x[7] + nom_x[7]; + out_3577007229449845283[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899) { - out_8618844445394053899[0] = -nom_x[0] + true_x[0]; - out_8618844445394053899[1] = -nom_x[1] + true_x[1]; - out_8618844445394053899[2] = -nom_x[2] + true_x[2]; - out_8618844445394053899[3] = -nom_x[3] + true_x[3]; - out_8618844445394053899[4] = -nom_x[4] + true_x[4]; - out_8618844445394053899[5] = -nom_x[5] + true_x[5]; - out_8618844445394053899[6] = -nom_x[6] + true_x[6]; - out_8618844445394053899[7] = -nom_x[7] + true_x[7]; - out_8618844445394053899[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6399722403094813471) { + out_6399722403094813471[0] = -nom_x[0] + true_x[0]; + out_6399722403094813471[1] = -nom_x[1] + true_x[1]; + out_6399722403094813471[2] = -nom_x[2] + true_x[2]; + out_6399722403094813471[3] = -nom_x[3] + true_x[3]; + out_6399722403094813471[4] = -nom_x[4] + true_x[4]; + out_6399722403094813471[5] = -nom_x[5] + true_x[5]; + out_6399722403094813471[6] = -nom_x[6] + true_x[6]; + out_6399722403094813471[7] = -nom_x[7] + true_x[7]; + out_6399722403094813471[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_9083000739620874267) { - out_9083000739620874267[0] = 1.0; - out_9083000739620874267[1] = 0.0; - out_9083000739620874267[2] = 0.0; - out_9083000739620874267[3] = 0.0; - out_9083000739620874267[4] = 0.0; - out_9083000739620874267[5] = 0.0; - out_9083000739620874267[6] = 0.0; - out_9083000739620874267[7] = 0.0; - out_9083000739620874267[8] = 0.0; - out_9083000739620874267[9] = 0.0; - out_9083000739620874267[10] = 1.0; - out_9083000739620874267[11] = 0.0; - out_9083000739620874267[12] = 0.0; - out_9083000739620874267[13] = 0.0; - out_9083000739620874267[14] = 0.0; - out_9083000739620874267[15] = 0.0; - out_9083000739620874267[16] = 0.0; - out_9083000739620874267[17] = 0.0; - out_9083000739620874267[18] = 0.0; - out_9083000739620874267[19] = 0.0; - out_9083000739620874267[20] = 1.0; - out_9083000739620874267[21] = 0.0; - out_9083000739620874267[22] = 0.0; - out_9083000739620874267[23] = 0.0; - out_9083000739620874267[24] = 0.0; - out_9083000739620874267[25] = 0.0; - out_9083000739620874267[26] = 0.0; - out_9083000739620874267[27] = 0.0; - out_9083000739620874267[28] = 0.0; - out_9083000739620874267[29] = 0.0; - out_9083000739620874267[30] = 1.0; - out_9083000739620874267[31] = 0.0; - out_9083000739620874267[32] = 0.0; - out_9083000739620874267[33] = 0.0; - out_9083000739620874267[34] = 0.0; - out_9083000739620874267[35] = 0.0; - out_9083000739620874267[36] = 0.0; - out_9083000739620874267[37] = 0.0; - out_9083000739620874267[38] = 0.0; - out_9083000739620874267[39] = 0.0; - out_9083000739620874267[40] = 1.0; - out_9083000739620874267[41] = 0.0; - out_9083000739620874267[42] = 0.0; - out_9083000739620874267[43] = 0.0; - out_9083000739620874267[44] = 0.0; - out_9083000739620874267[45] = 0.0; - out_9083000739620874267[46] = 0.0; - out_9083000739620874267[47] = 0.0; - out_9083000739620874267[48] = 0.0; - out_9083000739620874267[49] = 0.0; - out_9083000739620874267[50] = 1.0; - out_9083000739620874267[51] = 0.0; - out_9083000739620874267[52] = 0.0; - out_9083000739620874267[53] = 0.0; - out_9083000739620874267[54] = 0.0; - out_9083000739620874267[55] = 0.0; - out_9083000739620874267[56] = 0.0; - out_9083000739620874267[57] = 0.0; - out_9083000739620874267[58] = 0.0; - out_9083000739620874267[59] = 0.0; - out_9083000739620874267[60] = 1.0; - out_9083000739620874267[61] = 0.0; - out_9083000739620874267[62] = 0.0; - out_9083000739620874267[63] = 0.0; - out_9083000739620874267[64] = 0.0; - out_9083000739620874267[65] = 0.0; - out_9083000739620874267[66] = 0.0; - out_9083000739620874267[67] = 0.0; - out_9083000739620874267[68] = 0.0; - out_9083000739620874267[69] = 0.0; - out_9083000739620874267[70] = 1.0; - out_9083000739620874267[71] = 0.0; - out_9083000739620874267[72] = 0.0; - out_9083000739620874267[73] = 0.0; - out_9083000739620874267[74] = 0.0; - out_9083000739620874267[75] = 0.0; - out_9083000739620874267[76] = 0.0; - out_9083000739620874267[77] = 0.0; - out_9083000739620874267[78] = 0.0; - out_9083000739620874267[79] = 0.0; - out_9083000739620874267[80] = 1.0; +void H_mod_fun(double *state, double *out_7904303228569973439) { + out_7904303228569973439[0] = 1.0; + out_7904303228569973439[1] = 0.0; + out_7904303228569973439[2] = 0.0; + out_7904303228569973439[3] = 0.0; + out_7904303228569973439[4] = 0.0; + out_7904303228569973439[5] = 0.0; + out_7904303228569973439[6] = 0.0; + out_7904303228569973439[7] = 0.0; + out_7904303228569973439[8] = 0.0; + out_7904303228569973439[9] = 0.0; + out_7904303228569973439[10] = 1.0; + out_7904303228569973439[11] = 0.0; + out_7904303228569973439[12] = 0.0; + out_7904303228569973439[13] = 0.0; + out_7904303228569973439[14] = 0.0; + out_7904303228569973439[15] = 0.0; + out_7904303228569973439[16] = 0.0; + out_7904303228569973439[17] = 0.0; + out_7904303228569973439[18] = 0.0; + out_7904303228569973439[19] = 0.0; + out_7904303228569973439[20] = 1.0; + out_7904303228569973439[21] = 0.0; + out_7904303228569973439[22] = 0.0; + out_7904303228569973439[23] = 0.0; + out_7904303228569973439[24] = 0.0; + out_7904303228569973439[25] = 0.0; + out_7904303228569973439[26] = 0.0; + out_7904303228569973439[27] = 0.0; + out_7904303228569973439[28] = 0.0; + out_7904303228569973439[29] = 0.0; + out_7904303228569973439[30] = 1.0; + out_7904303228569973439[31] = 0.0; + out_7904303228569973439[32] = 0.0; + out_7904303228569973439[33] = 0.0; + out_7904303228569973439[34] = 0.0; + out_7904303228569973439[35] = 0.0; + out_7904303228569973439[36] = 0.0; + out_7904303228569973439[37] = 0.0; + out_7904303228569973439[38] = 0.0; + out_7904303228569973439[39] = 0.0; + out_7904303228569973439[40] = 1.0; + out_7904303228569973439[41] = 0.0; + out_7904303228569973439[42] = 0.0; + out_7904303228569973439[43] = 0.0; + out_7904303228569973439[44] = 0.0; + out_7904303228569973439[45] = 0.0; + out_7904303228569973439[46] = 0.0; + out_7904303228569973439[47] = 0.0; + out_7904303228569973439[48] = 0.0; + out_7904303228569973439[49] = 0.0; + out_7904303228569973439[50] = 1.0; + out_7904303228569973439[51] = 0.0; + out_7904303228569973439[52] = 0.0; + out_7904303228569973439[53] = 0.0; + out_7904303228569973439[54] = 0.0; + out_7904303228569973439[55] = 0.0; + out_7904303228569973439[56] = 0.0; + out_7904303228569973439[57] = 0.0; + out_7904303228569973439[58] = 0.0; + out_7904303228569973439[59] = 0.0; + out_7904303228569973439[60] = 1.0; + out_7904303228569973439[61] = 0.0; + out_7904303228569973439[62] = 0.0; + out_7904303228569973439[63] = 0.0; + out_7904303228569973439[64] = 0.0; + out_7904303228569973439[65] = 0.0; + out_7904303228569973439[66] = 0.0; + out_7904303228569973439[67] = 0.0; + out_7904303228569973439[68] = 0.0; + out_7904303228569973439[69] = 0.0; + out_7904303228569973439[70] = 1.0; + out_7904303228569973439[71] = 0.0; + out_7904303228569973439[72] = 0.0; + out_7904303228569973439[73] = 0.0; + out_7904303228569973439[74] = 0.0; + out_7904303228569973439[75] = 0.0; + out_7904303228569973439[76] = 0.0; + out_7904303228569973439[77] = 0.0; + out_7904303228569973439[78] = 0.0; + out_7904303228569973439[79] = 0.0; + out_7904303228569973439[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2939712332855985662) { - out_2939712332855985662[0] = state[0]; - out_2939712332855985662[1] = state[1]; - out_2939712332855985662[2] = state[2]; - out_2939712332855985662[3] = state[3]; - out_2939712332855985662[4] = state[4]; - out_2939712332855985662[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_2939712332855985662[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_2939712332855985662[7] = state[7]; - out_2939712332855985662[8] = state[8]; +void f_fun(double *state, double dt, double *out_2229936979988599717) { + out_2229936979988599717[0] = state[0]; + out_2229936979988599717[1] = state[1]; + out_2229936979988599717[2] = state[2]; + out_2229936979988599717[3] = state[3]; + out_2229936979988599717[4] = state[4]; + out_2229936979988599717[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_2229936979988599717[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_2229936979988599717[7] = state[7]; + out_2229936979988599717[8] = state[8]; } -void F_fun(double *state, double dt, double *out_9197210553723469698) { - out_9197210553723469698[0] = 1; - out_9197210553723469698[1] = 0; - out_9197210553723469698[2] = 0; - out_9197210553723469698[3] = 0; - out_9197210553723469698[4] = 0; - out_9197210553723469698[5] = 0; - out_9197210553723469698[6] = 0; - out_9197210553723469698[7] = 0; - out_9197210553723469698[8] = 0; - out_9197210553723469698[9] = 0; - out_9197210553723469698[10] = 1; - out_9197210553723469698[11] = 0; - out_9197210553723469698[12] = 0; - out_9197210553723469698[13] = 0; - out_9197210553723469698[14] = 0; - out_9197210553723469698[15] = 0; - out_9197210553723469698[16] = 0; - out_9197210553723469698[17] = 0; - out_9197210553723469698[18] = 0; - out_9197210553723469698[19] = 0; - out_9197210553723469698[20] = 1; - out_9197210553723469698[21] = 0; - out_9197210553723469698[22] = 0; - out_9197210553723469698[23] = 0; - out_9197210553723469698[24] = 0; - out_9197210553723469698[25] = 0; - out_9197210553723469698[26] = 0; - out_9197210553723469698[27] = 0; - out_9197210553723469698[28] = 0; - out_9197210553723469698[29] = 0; - out_9197210553723469698[30] = 1; - out_9197210553723469698[31] = 0; - out_9197210553723469698[32] = 0; - out_9197210553723469698[33] = 0; - out_9197210553723469698[34] = 0; - out_9197210553723469698[35] = 0; - out_9197210553723469698[36] = 0; - out_9197210553723469698[37] = 0; - out_9197210553723469698[38] = 0; - out_9197210553723469698[39] = 0; - out_9197210553723469698[40] = 1; - out_9197210553723469698[41] = 0; - out_9197210553723469698[42] = 0; - out_9197210553723469698[43] = 0; - out_9197210553723469698[44] = 0; - out_9197210553723469698[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_9197210553723469698[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_9197210553723469698[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_9197210553723469698[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_9197210553723469698[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_9197210553723469698[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_9197210553723469698[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_9197210553723469698[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_9197210553723469698[53] = -9.8100000000000005*dt; - out_9197210553723469698[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_9197210553723469698[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_9197210553723469698[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9197210553723469698[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9197210553723469698[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_9197210553723469698[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_9197210553723469698[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_9197210553723469698[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_9197210553723469698[62] = 0; - out_9197210553723469698[63] = 0; - out_9197210553723469698[64] = 0; - out_9197210553723469698[65] = 0; - out_9197210553723469698[66] = 0; - out_9197210553723469698[67] = 0; - out_9197210553723469698[68] = 0; - out_9197210553723469698[69] = 0; - out_9197210553723469698[70] = 1; - out_9197210553723469698[71] = 0; - out_9197210553723469698[72] = 0; - out_9197210553723469698[73] = 0; - out_9197210553723469698[74] = 0; - out_9197210553723469698[75] = 0; - out_9197210553723469698[76] = 0; - out_9197210553723469698[77] = 0; - out_9197210553723469698[78] = 0; - out_9197210553723469698[79] = 0; - out_9197210553723469698[80] = 1; +void F_fun(double *state, double dt, double *out_265299588973257661) { + out_265299588973257661[0] = 1; + out_265299588973257661[1] = 0; + out_265299588973257661[2] = 0; + out_265299588973257661[3] = 0; + out_265299588973257661[4] = 0; + out_265299588973257661[5] = 0; + out_265299588973257661[6] = 0; + out_265299588973257661[7] = 0; + out_265299588973257661[8] = 0; + out_265299588973257661[9] = 0; + out_265299588973257661[10] = 1; + out_265299588973257661[11] = 0; + out_265299588973257661[12] = 0; + out_265299588973257661[13] = 0; + out_265299588973257661[14] = 0; + out_265299588973257661[15] = 0; + out_265299588973257661[16] = 0; + out_265299588973257661[17] = 0; + out_265299588973257661[18] = 0; + out_265299588973257661[19] = 0; + out_265299588973257661[20] = 1; + out_265299588973257661[21] = 0; + out_265299588973257661[22] = 0; + out_265299588973257661[23] = 0; + out_265299588973257661[24] = 0; + out_265299588973257661[25] = 0; + out_265299588973257661[26] = 0; + out_265299588973257661[27] = 0; + out_265299588973257661[28] = 0; + out_265299588973257661[29] = 0; + out_265299588973257661[30] = 1; + out_265299588973257661[31] = 0; + out_265299588973257661[32] = 0; + out_265299588973257661[33] = 0; + out_265299588973257661[34] = 0; + out_265299588973257661[35] = 0; + out_265299588973257661[36] = 0; + out_265299588973257661[37] = 0; + out_265299588973257661[38] = 0; + out_265299588973257661[39] = 0; + out_265299588973257661[40] = 1; + out_265299588973257661[41] = 0; + out_265299588973257661[42] = 0; + out_265299588973257661[43] = 0; + out_265299588973257661[44] = 0; + out_265299588973257661[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_265299588973257661[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_265299588973257661[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_265299588973257661[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_265299588973257661[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_265299588973257661[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_265299588973257661[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_265299588973257661[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_265299588973257661[53] = -9.8100000000000005*dt; + out_265299588973257661[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_265299588973257661[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_265299588973257661[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_265299588973257661[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_265299588973257661[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_265299588973257661[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_265299588973257661[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_265299588973257661[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_265299588973257661[62] = 0; + out_265299588973257661[63] = 0; + out_265299588973257661[64] = 0; + out_265299588973257661[65] = 0; + out_265299588973257661[66] = 0; + out_265299588973257661[67] = 0; + out_265299588973257661[68] = 0; + out_265299588973257661[69] = 0; + out_265299588973257661[70] = 1; + out_265299588973257661[71] = 0; + out_265299588973257661[72] = 0; + out_265299588973257661[73] = 0; + out_265299588973257661[74] = 0; + out_265299588973257661[75] = 0; + out_265299588973257661[76] = 0; + out_265299588973257661[77] = 0; + out_265299588973257661[78] = 0; + out_265299588973257661[79] = 0; + out_265299588973257661[80] = 1; } -void h_25(double *state, double *unused, double *out_7502443551709492094) { - out_7502443551709492094[0] = state[6]; +void h_25(double *state, double *unused, double *out_6366176548286495673) { + out_6366176548286495673[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2585977779730844316) { - out_2585977779730844316[0] = 0; - out_2585977779730844316[1] = 0; - out_2585977779730844316[2] = 0; - out_2585977779730844316[3] = 0; - out_2585977779730844316[4] = 0; - out_2585977779730844316[5] = 0; - out_2585977779730844316[6] = 1; - out_2585977779730844316[7] = 0; - out_2585977779730844316[8] = 0; +void H_25(double *state, double *unused, double *out_2729963794422514103) { + out_2729963794422514103[0] = 0; + out_2729963794422514103[1] = 0; + out_2729963794422514103[2] = 0; + out_2729963794422514103[3] = 0; + out_2729963794422514103[4] = 0; + out_2729963794422514103[5] = 0; + out_2729963794422514103[6] = 1; + out_2729963794422514103[7] = 0; + out_2729963794422514103[8] = 0; } -void h_24(double *state, double *unused, double *out_4099652252284200208) { - out_4099652252284200208[0] = state[4]; - out_4099652252284200208[1] = state[5]; +void h_24(double *state, double *unused, double *out_3288800728819921756) { + out_3288800728819921756[0] = state[4]; + out_3288800728819921756[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2115520297687505592) { - out_2115520297687505592[0] = 0; - out_2115520297687505592[1] = 0; - out_2115520297687505592[2] = 0; - out_2115520297687505592[3] = 0; - out_2115520297687505592[4] = 1; - out_2115520297687505592[5] = 0; - out_2115520297687505592[6] = 0; - out_2115520297687505592[7] = 0; - out_2115520297687505592[8] = 0; - out_2115520297687505592[9] = 0; - out_2115520297687505592[10] = 0; - out_2115520297687505592[11] = 0; - out_2115520297687505592[12] = 0; - out_2115520297687505592[13] = 0; - out_2115520297687505592[14] = 1; - out_2115520297687505592[15] = 0; - out_2115520297687505592[16] = 0; - out_2115520297687505592[17] = 0; +void H_24(double *state, double *unused, double *out_3471068885428647323) { + out_3471068885428647323[0] = 0; + out_3471068885428647323[1] = 0; + out_3471068885428647323[2] = 0; + out_3471068885428647323[3] = 0; + out_3471068885428647323[4] = 1; + out_3471068885428647323[5] = 0; + out_3471068885428647323[6] = 0; + out_3471068885428647323[7] = 0; + out_3471068885428647323[8] = 0; + out_3471068885428647323[9] = 0; + out_3471068885428647323[10] = 0; + out_3471068885428647323[11] = 0; + out_3471068885428647323[12] = 0; + out_3471068885428647323[13] = 0; + out_3471068885428647323[14] = 1; + out_3471068885428647323[15] = 0; + out_3471068885428647323[16] = 0; + out_3471068885428647323[17] = 0; } -void h_30(double *state, double *unused, double *out_7659630220060621239) { - out_7659630220060621239[0] = state[4]; +void h_30(double *state, double *unused, double *out_4915545155657612506) { + out_4915545155657612506[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2456638832587604246) { - out_2456638832587604246[0] = 0; - out_2456638832587604246[1] = 0; - out_2456638832587604246[2] = 0; - out_2456638832587604246[3] = 0; - out_2456638832587604246[4] = 1; - out_2456638832587604246[5] = 0; - out_2456638832587604246[6] = 0; - out_2456638832587604246[7] = 0; - out_2456638832587604246[8] = 0; +void H_30(double *state, double *unused, double *out_5248296752929762730) { + out_5248296752929762730[0] = 0; + out_5248296752929762730[1] = 0; + out_5248296752929762730[2] = 0; + out_5248296752929762730[3] = 0; + out_5248296752929762730[4] = 1; + out_5248296752929762730[5] = 0; + out_5248296752929762730[6] = 0; + out_5248296752929762730[7] = 0; + out_5248296752929762730[8] = 0; } -void h_26(double *state, double *unused, double *out_2198951171844088969) { - out_2198951171844088969[0] = state[7]; +void h_26(double *state, double *unused, double *out_4312229270981134989) { + out_4312229270981134989[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1155525539143211908) { - out_1155525539143211908[0] = 0; - out_1155525539143211908[1] = 0; - out_1155525539143211908[2] = 0; - out_1155525539143211908[3] = 0; - out_1155525539143211908[4] = 0; - out_1155525539143211908[5] = 0; - out_1155525539143211908[6] = 0; - out_1155525539143211908[7] = 1; - out_1155525539143211908[8] = 0; +void H_26(double *state, double *unused, double *out_1011539524451542121) { + out_1011539524451542121[0] = 0; + out_1011539524451542121[1] = 0; + out_1011539524451542121[2] = 0; + out_1011539524451542121[3] = 0; + out_1011539524451542121[4] = 0; + out_1011539524451542121[5] = 0; + out_1011539524451542121[6] = 0; + out_1011539524451542121[7] = 1; + out_1011539524451542121[8] = 0; } -void h_27(double *state, double *unused, double *out_5981920524318766290) { - out_5981920524318766290[0] = state[3]; +void h_27(double *state, double *unused, double *out_2035945772564408966) { + out_2035945772564408966[0] = state[3]; } -void H_27(double *state, double *unused, double *out_281875520787179335) { - out_281875520787179335[0] = 0; - out_281875520787179335[1] = 0; - out_281875520787179335[2] = 0; - out_281875520787179335[3] = 1; - out_281875520787179335[4] = 0; - out_281875520787179335[5] = 0; - out_281875520787179335[6] = 0; - out_281875520787179335[7] = 0; - out_281875520787179335[8] = 0; +void H_27(double *state, double *unused, double *out_425861535478849122) { + out_425861535478849122[0] = 0; + out_425861535478849122[1] = 0; + out_425861535478849122[2] = 0; + out_425861535478849122[3] = 1; + out_425861535478849122[4] = 0; + out_425861535478849122[5] = 0; + out_425861535478849122[6] = 0; + out_425861535478849122[7] = 0; + out_425861535478849122[8] = 0; } -void h_29(double *state, double *unused, double *out_1781344732501906151) { - out_1781344732501906151[0] = state[1]; +void h_29(double *state, double *unused, double *out_8529525650391093465) { + out_8529525650391093465[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1431487206082371698) { - out_1431487206082371698[0] = 0; - out_1431487206082371698[1] = 1; - out_1431487206082371698[2] = 0; - out_1431487206082371698[3] = 0; - out_1431487206082371698[4] = 0; - out_1431487206082371698[5] = 0; - out_1431487206082371698[6] = 0; - out_1431487206082371698[7] = 0; - out_1431487206082371698[8] = 0; +void H_29(double *state, double *unused, double *out_1287501191390701911) { + out_1287501191390701911[0] = 0; + out_1287501191390701911[1] = 1; + out_1287501191390701911[2] = 0; + out_1287501191390701911[3] = 0; + out_1287501191390701911[4] = 0; + out_1287501191390701911[5] = 0; + out_1287501191390701911[6] = 0; + out_1287501191390701911[7] = 0; + out_1287501191390701911[8] = 0; } -void h_28(double *state, double *unused, double *out_2565647234669696274) { - out_2565647234669696274[0] = state[0]; +void h_28(double *state, double *unused, double *out_9014834141134194238) { + out_9014834141134194238[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6513886223151902272) { - out_6513886223151902272[0] = 1; - out_6513886223151902272[1] = 0; - out_6513886223151902272[2] = 0; - out_6513886223151902272[3] = 0; - out_6513886223151902272[4] = 0; - out_6513886223151902272[5] = 0; - out_6513886223151902272[6] = 0; - out_6513886223151902272[7] = 0; - out_6513886223151902272[8] = 0; +void H_28(double *state, double *unused, double *out_676129080174624340) { + out_676129080174624340[0] = 1; + out_676129080174624340[1] = 0; + out_676129080174624340[2] = 0; + out_676129080174624340[3] = 0; + out_676129080174624340[4] = 0; + out_676129080174624340[5] = 0; + out_676129080174624340[6] = 0; + out_676129080174624340[7] = 0; + out_676129080174624340[8] = 0; } -void h_31(double *state, double *unused, double *out_7751082483008271581) { - out_7751082483008271581[0] = state[8]; +void h_31(double *state, double *unused, double *out_1515096102467553512) { + out_1515096102467553512[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2616623741607804744) { - out_2616623741607804744[0] = 0; - out_2616623741607804744[1] = 0; - out_2616623741607804744[2] = 0; - out_2616623741607804744[3] = 0; - out_2616623741607804744[4] = 0; - out_2616623741607804744[5] = 0; - out_2616623741607804744[6] = 0; - out_2616623741607804744[7] = 0; - out_2616623741607804744[8] = 1; +void H_31(double *state, double *unused, double *out_2760609756299474531) { + out_2760609756299474531[0] = 0; + out_2760609756299474531[1] = 0; + out_2760609756299474531[2] = 0; + out_2760609756299474531[3] = 0; + out_2760609756299474531[4] = 0; + out_2760609756299474531[5] = 0; + out_2760609756299474531[6] = 0; + out_2760609756299474531[7] = 0; + out_2760609756299474531[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_1054824998219177113) { - err_fun(nom_x, delta_x, out_1054824998219177113); +void car_err_fun(double *nom_x, double *delta_x, double *out_3577007229449845283) { + err_fun(nom_x, delta_x, out_3577007229449845283); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899) { - inv_err_fun(nom_x, true_x, out_8618844445394053899); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6399722403094813471) { + inv_err_fun(nom_x, true_x, out_6399722403094813471); } -void car_H_mod_fun(double *state, double *out_9083000739620874267) { - H_mod_fun(state, out_9083000739620874267); +void car_H_mod_fun(double *state, double *out_7904303228569973439) { + H_mod_fun(state, out_7904303228569973439); } -void car_f_fun(double *state, double dt, double *out_2939712332855985662) { - f_fun(state, dt, out_2939712332855985662); +void car_f_fun(double *state, double dt, double *out_2229936979988599717) { + f_fun(state, dt, out_2229936979988599717); } -void car_F_fun(double *state, double dt, double *out_9197210553723469698) { - F_fun(state, dt, out_9197210553723469698); +void car_F_fun(double *state, double dt, double *out_265299588973257661) { + F_fun(state, dt, out_265299588973257661); } -void car_h_25(double *state, double *unused, double *out_7502443551709492094) { - h_25(state, unused, out_7502443551709492094); +void car_h_25(double *state, double *unused, double *out_6366176548286495673) { + h_25(state, unused, out_6366176548286495673); } -void car_H_25(double *state, double *unused, double *out_2585977779730844316) { - H_25(state, unused, out_2585977779730844316); +void car_H_25(double *state, double *unused, double *out_2729963794422514103) { + H_25(state, unused, out_2729963794422514103); } -void car_h_24(double *state, double *unused, double *out_4099652252284200208) { - h_24(state, unused, out_4099652252284200208); +void car_h_24(double *state, double *unused, double *out_3288800728819921756) { + h_24(state, unused, out_3288800728819921756); } -void car_H_24(double *state, double *unused, double *out_2115520297687505592) { - H_24(state, unused, out_2115520297687505592); +void car_H_24(double *state, double *unused, double *out_3471068885428647323) { + H_24(state, unused, out_3471068885428647323); } -void car_h_30(double *state, double *unused, double *out_7659630220060621239) { - h_30(state, unused, out_7659630220060621239); +void car_h_30(double *state, double *unused, double *out_4915545155657612506) { + h_30(state, unused, out_4915545155657612506); } -void car_H_30(double *state, double *unused, double *out_2456638832587604246) { - H_30(state, unused, out_2456638832587604246); +void car_H_30(double *state, double *unused, double *out_5248296752929762730) { + H_30(state, unused, out_5248296752929762730); } -void car_h_26(double *state, double *unused, double *out_2198951171844088969) { - h_26(state, unused, out_2198951171844088969); +void car_h_26(double *state, double *unused, double *out_4312229270981134989) { + h_26(state, unused, out_4312229270981134989); } -void car_H_26(double *state, double *unused, double *out_1155525539143211908) { - H_26(state, unused, out_1155525539143211908); +void car_H_26(double *state, double *unused, double *out_1011539524451542121) { + H_26(state, unused, out_1011539524451542121); } -void car_h_27(double *state, double *unused, double *out_5981920524318766290) { - h_27(state, unused, out_5981920524318766290); +void car_h_27(double *state, double *unused, double *out_2035945772564408966) { + h_27(state, unused, out_2035945772564408966); } -void car_H_27(double *state, double *unused, double *out_281875520787179335) { - H_27(state, unused, out_281875520787179335); +void car_H_27(double *state, double *unused, double *out_425861535478849122) { + H_27(state, unused, out_425861535478849122); } -void car_h_29(double *state, double *unused, double *out_1781344732501906151) { - h_29(state, unused, out_1781344732501906151); +void car_h_29(double *state, double *unused, double *out_8529525650391093465) { + h_29(state, unused, out_8529525650391093465); } -void car_H_29(double *state, double *unused, double *out_1431487206082371698) { - H_29(state, unused, out_1431487206082371698); +void car_H_29(double *state, double *unused, double *out_1287501191390701911) { + H_29(state, unused, out_1287501191390701911); } -void car_h_28(double *state, double *unused, double *out_2565647234669696274) { - h_28(state, unused, out_2565647234669696274); +void car_h_28(double *state, double *unused, double *out_9014834141134194238) { + h_28(state, unused, out_9014834141134194238); } -void car_H_28(double *state, double *unused, double *out_6513886223151902272) { - H_28(state, unused, out_6513886223151902272); +void car_H_28(double *state, double *unused, double *out_676129080174624340) { + H_28(state, unused, out_676129080174624340); } -void car_h_31(double *state, double *unused, double *out_7751082483008271581) { - h_31(state, unused, out_7751082483008271581); +void car_h_31(double *state, double *unused, double *out_1515096102467553512) { + h_31(state, unused, out_1515096102467553512); } -void car_H_31(double *state, double *unused, double *out_2616623741607804744) { - H_31(state, unused, out_2616623741607804744); +void car_H_31(double *state, double *unused, double *out_2760609756299474531) { + H_31(state, unused, out_2760609756299474531); } 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 16b005f9f..8d8ed940a 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_1054824998219177113); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8618844445394053899); -void car_H_mod_fun(double *state, double *out_9083000739620874267); -void car_f_fun(double *state, double dt, double *out_2939712332855985662); -void car_F_fun(double *state, double dt, double *out_9197210553723469698); -void car_h_25(double *state, double *unused, double *out_7502443551709492094); -void car_H_25(double *state, double *unused, double *out_2585977779730844316); -void car_h_24(double *state, double *unused, double *out_4099652252284200208); -void car_H_24(double *state, double *unused, double *out_2115520297687505592); -void car_h_30(double *state, double *unused, double *out_7659630220060621239); -void car_H_30(double *state, double *unused, double *out_2456638832587604246); -void car_h_26(double *state, double *unused, double *out_2198951171844088969); -void car_H_26(double *state, double *unused, double *out_1155525539143211908); -void car_h_27(double *state, double *unused, double *out_5981920524318766290); -void car_H_27(double *state, double *unused, double *out_281875520787179335); -void car_h_29(double *state, double *unused, double *out_1781344732501906151); -void car_H_29(double *state, double *unused, double *out_1431487206082371698); -void car_h_28(double *state, double *unused, double *out_2565647234669696274); -void car_H_28(double *state, double *unused, double *out_6513886223151902272); -void car_h_31(double *state, double *unused, double *out_7751082483008271581); -void car_H_31(double *state, double *unused, double *out_2616623741607804744); +void car_err_fun(double *nom_x, double *delta_x, double *out_3577007229449845283); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6399722403094813471); +void car_H_mod_fun(double *state, double *out_7904303228569973439); +void car_f_fun(double *state, double dt, double *out_2229936979988599717); +void car_F_fun(double *state, double dt, double *out_265299588973257661); +void car_h_25(double *state, double *unused, double *out_6366176548286495673); +void car_H_25(double *state, double *unused, double *out_2729963794422514103); +void car_h_24(double *state, double *unused, double *out_3288800728819921756); +void car_H_24(double *state, double *unused, double *out_3471068885428647323); +void car_h_30(double *state, double *unused, double *out_4915545155657612506); +void car_H_30(double *state, double *unused, double *out_5248296752929762730); +void car_h_26(double *state, double *unused, double *out_4312229270981134989); +void car_H_26(double *state, double *unused, double *out_1011539524451542121); +void car_h_27(double *state, double *unused, double *out_2035945772564408966); +void car_H_27(double *state, double *unused, double *out_425861535478849122); +void car_h_29(double *state, double *unused, double *out_8529525650391093465); +void car_H_29(double *state, double *unused, double *out_1287501191390701911); +void car_h_28(double *state, double *unused, double *out_9014834141134194238); +void car_H_28(double *state, double *unused, double *out_676129080174624340); +void car_h_31(double *state, double *unused, double *out_1515096102467553512); +void car_H_31(double *state, double *unused, double *out_2760609756299474531); 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 86d44bf75..76c6b8e1f 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_3926294361318359623) { - out_3926294361318359623[0] = delta_x[0] + nom_x[0]; - out_3926294361318359623[1] = delta_x[1] + nom_x[1]; - out_3926294361318359623[2] = delta_x[2] + nom_x[2]; - out_3926294361318359623[3] = delta_x[3] + nom_x[3]; - out_3926294361318359623[4] = delta_x[4] + nom_x[4]; - out_3926294361318359623[5] = delta_x[5] + nom_x[5]; - out_3926294361318359623[6] = delta_x[6] + nom_x[6]; - out_3926294361318359623[7] = delta_x[7] + nom_x[7]; - out_3926294361318359623[8] = delta_x[8] + nom_x[8]; - out_3926294361318359623[9] = delta_x[9] + nom_x[9]; - out_3926294361318359623[10] = delta_x[10] + nom_x[10]; - out_3926294361318359623[11] = delta_x[11] + nom_x[11]; - out_3926294361318359623[12] = delta_x[12] + nom_x[12]; - out_3926294361318359623[13] = delta_x[13] + nom_x[13]; - out_3926294361318359623[14] = delta_x[14] + nom_x[14]; - out_3926294361318359623[15] = delta_x[15] + nom_x[15]; - out_3926294361318359623[16] = delta_x[16] + nom_x[16]; - out_3926294361318359623[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6464539647254934838) { + out_6464539647254934838[0] = delta_x[0] + nom_x[0]; + out_6464539647254934838[1] = delta_x[1] + nom_x[1]; + out_6464539647254934838[2] = delta_x[2] + nom_x[2]; + out_6464539647254934838[3] = delta_x[3] + nom_x[3]; + out_6464539647254934838[4] = delta_x[4] + nom_x[4]; + out_6464539647254934838[5] = delta_x[5] + nom_x[5]; + out_6464539647254934838[6] = delta_x[6] + nom_x[6]; + out_6464539647254934838[7] = delta_x[7] + nom_x[7]; + out_6464539647254934838[8] = delta_x[8] + nom_x[8]; + out_6464539647254934838[9] = delta_x[9] + nom_x[9]; + out_6464539647254934838[10] = delta_x[10] + nom_x[10]; + out_6464539647254934838[11] = delta_x[11] + nom_x[11]; + out_6464539647254934838[12] = delta_x[12] + nom_x[12]; + out_6464539647254934838[13] = delta_x[13] + nom_x[13]; + out_6464539647254934838[14] = delta_x[14] + nom_x[14]; + out_6464539647254934838[15] = delta_x[15] + nom_x[15]; + out_6464539647254934838[16] = delta_x[16] + nom_x[16]; + out_6464539647254934838[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5231104082209692226) { - out_5231104082209692226[0] = -nom_x[0] + true_x[0]; - out_5231104082209692226[1] = -nom_x[1] + true_x[1]; - out_5231104082209692226[2] = -nom_x[2] + true_x[2]; - out_5231104082209692226[3] = -nom_x[3] + true_x[3]; - out_5231104082209692226[4] = -nom_x[4] + true_x[4]; - out_5231104082209692226[5] = -nom_x[5] + true_x[5]; - out_5231104082209692226[6] = -nom_x[6] + true_x[6]; - out_5231104082209692226[7] = -nom_x[7] + true_x[7]; - out_5231104082209692226[8] = -nom_x[8] + true_x[8]; - out_5231104082209692226[9] = -nom_x[9] + true_x[9]; - out_5231104082209692226[10] = -nom_x[10] + true_x[10]; - out_5231104082209692226[11] = -nom_x[11] + true_x[11]; - out_5231104082209692226[12] = -nom_x[12] + true_x[12]; - out_5231104082209692226[13] = -nom_x[13] + true_x[13]; - out_5231104082209692226[14] = -nom_x[14] + true_x[14]; - out_5231104082209692226[15] = -nom_x[15] + true_x[15]; - out_5231104082209692226[16] = -nom_x[16] + true_x[16]; - out_5231104082209692226[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6486962015996802201) { + out_6486962015996802201[0] = -nom_x[0] + true_x[0]; + out_6486962015996802201[1] = -nom_x[1] + true_x[1]; + out_6486962015996802201[2] = -nom_x[2] + true_x[2]; + out_6486962015996802201[3] = -nom_x[3] + true_x[3]; + out_6486962015996802201[4] = -nom_x[4] + true_x[4]; + out_6486962015996802201[5] = -nom_x[5] + true_x[5]; + out_6486962015996802201[6] = -nom_x[6] + true_x[6]; + out_6486962015996802201[7] = -nom_x[7] + true_x[7]; + out_6486962015996802201[8] = -nom_x[8] + true_x[8]; + out_6486962015996802201[9] = -nom_x[9] + true_x[9]; + out_6486962015996802201[10] = -nom_x[10] + true_x[10]; + out_6486962015996802201[11] = -nom_x[11] + true_x[11]; + out_6486962015996802201[12] = -nom_x[12] + true_x[12]; + out_6486962015996802201[13] = -nom_x[13] + true_x[13]; + out_6486962015996802201[14] = -nom_x[14] + true_x[14]; + out_6486962015996802201[15] = -nom_x[15] + true_x[15]; + out_6486962015996802201[16] = -nom_x[16] + true_x[16]; + out_6486962015996802201[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5646756432622182646) { - out_5646756432622182646[0] = 1.0; - out_5646756432622182646[1] = 0.0; - out_5646756432622182646[2] = 0.0; - out_5646756432622182646[3] = 0.0; - out_5646756432622182646[4] = 0.0; - out_5646756432622182646[5] = 0.0; - out_5646756432622182646[6] = 0.0; - out_5646756432622182646[7] = 0.0; - out_5646756432622182646[8] = 0.0; - out_5646756432622182646[9] = 0.0; - out_5646756432622182646[10] = 0.0; - out_5646756432622182646[11] = 0.0; - out_5646756432622182646[12] = 0.0; - out_5646756432622182646[13] = 0.0; - out_5646756432622182646[14] = 0.0; - out_5646756432622182646[15] = 0.0; - out_5646756432622182646[16] = 0.0; - out_5646756432622182646[17] = 0.0; - out_5646756432622182646[18] = 0.0; - out_5646756432622182646[19] = 1.0; - out_5646756432622182646[20] = 0.0; - out_5646756432622182646[21] = 0.0; - out_5646756432622182646[22] = 0.0; - out_5646756432622182646[23] = 0.0; - out_5646756432622182646[24] = 0.0; - out_5646756432622182646[25] = 0.0; - out_5646756432622182646[26] = 0.0; - out_5646756432622182646[27] = 0.0; - out_5646756432622182646[28] = 0.0; - out_5646756432622182646[29] = 0.0; - out_5646756432622182646[30] = 0.0; - out_5646756432622182646[31] = 0.0; - out_5646756432622182646[32] = 0.0; - out_5646756432622182646[33] = 0.0; - out_5646756432622182646[34] = 0.0; - out_5646756432622182646[35] = 0.0; - out_5646756432622182646[36] = 0.0; - out_5646756432622182646[37] = 0.0; - out_5646756432622182646[38] = 1.0; - out_5646756432622182646[39] = 0.0; - out_5646756432622182646[40] = 0.0; - out_5646756432622182646[41] = 0.0; - out_5646756432622182646[42] = 0.0; - out_5646756432622182646[43] = 0.0; - out_5646756432622182646[44] = 0.0; - out_5646756432622182646[45] = 0.0; - out_5646756432622182646[46] = 0.0; - out_5646756432622182646[47] = 0.0; - out_5646756432622182646[48] = 0.0; - out_5646756432622182646[49] = 0.0; - out_5646756432622182646[50] = 0.0; - out_5646756432622182646[51] = 0.0; - out_5646756432622182646[52] = 0.0; - out_5646756432622182646[53] = 0.0; - out_5646756432622182646[54] = 0.0; - out_5646756432622182646[55] = 0.0; - out_5646756432622182646[56] = 0.0; - out_5646756432622182646[57] = 1.0; - out_5646756432622182646[58] = 0.0; - out_5646756432622182646[59] = 0.0; - out_5646756432622182646[60] = 0.0; - out_5646756432622182646[61] = 0.0; - out_5646756432622182646[62] = 0.0; - out_5646756432622182646[63] = 0.0; - out_5646756432622182646[64] = 0.0; - out_5646756432622182646[65] = 0.0; - out_5646756432622182646[66] = 0.0; - out_5646756432622182646[67] = 0.0; - out_5646756432622182646[68] = 0.0; - out_5646756432622182646[69] = 0.0; - out_5646756432622182646[70] = 0.0; - out_5646756432622182646[71] = 0.0; - out_5646756432622182646[72] = 0.0; - out_5646756432622182646[73] = 0.0; - out_5646756432622182646[74] = 0.0; - out_5646756432622182646[75] = 0.0; - out_5646756432622182646[76] = 1.0; - out_5646756432622182646[77] = 0.0; - out_5646756432622182646[78] = 0.0; - out_5646756432622182646[79] = 0.0; - out_5646756432622182646[80] = 0.0; - out_5646756432622182646[81] = 0.0; - out_5646756432622182646[82] = 0.0; - out_5646756432622182646[83] = 0.0; - out_5646756432622182646[84] = 0.0; - out_5646756432622182646[85] = 0.0; - out_5646756432622182646[86] = 0.0; - out_5646756432622182646[87] = 0.0; - out_5646756432622182646[88] = 0.0; - out_5646756432622182646[89] = 0.0; - out_5646756432622182646[90] = 0.0; - out_5646756432622182646[91] = 0.0; - out_5646756432622182646[92] = 0.0; - out_5646756432622182646[93] = 0.0; - out_5646756432622182646[94] = 0.0; - out_5646756432622182646[95] = 1.0; - out_5646756432622182646[96] = 0.0; - out_5646756432622182646[97] = 0.0; - out_5646756432622182646[98] = 0.0; - out_5646756432622182646[99] = 0.0; - out_5646756432622182646[100] = 0.0; - out_5646756432622182646[101] = 0.0; - out_5646756432622182646[102] = 0.0; - out_5646756432622182646[103] = 0.0; - out_5646756432622182646[104] = 0.0; - out_5646756432622182646[105] = 0.0; - out_5646756432622182646[106] = 0.0; - out_5646756432622182646[107] = 0.0; - out_5646756432622182646[108] = 0.0; - out_5646756432622182646[109] = 0.0; - out_5646756432622182646[110] = 0.0; - out_5646756432622182646[111] = 0.0; - out_5646756432622182646[112] = 0.0; - out_5646756432622182646[113] = 0.0; - out_5646756432622182646[114] = 1.0; - out_5646756432622182646[115] = 0.0; - out_5646756432622182646[116] = 0.0; - out_5646756432622182646[117] = 0.0; - out_5646756432622182646[118] = 0.0; - out_5646756432622182646[119] = 0.0; - out_5646756432622182646[120] = 0.0; - out_5646756432622182646[121] = 0.0; - out_5646756432622182646[122] = 0.0; - out_5646756432622182646[123] = 0.0; - out_5646756432622182646[124] = 0.0; - out_5646756432622182646[125] = 0.0; - out_5646756432622182646[126] = 0.0; - out_5646756432622182646[127] = 0.0; - out_5646756432622182646[128] = 0.0; - out_5646756432622182646[129] = 0.0; - out_5646756432622182646[130] = 0.0; - out_5646756432622182646[131] = 0.0; - out_5646756432622182646[132] = 0.0; - out_5646756432622182646[133] = 1.0; - out_5646756432622182646[134] = 0.0; - out_5646756432622182646[135] = 0.0; - out_5646756432622182646[136] = 0.0; - out_5646756432622182646[137] = 0.0; - out_5646756432622182646[138] = 0.0; - out_5646756432622182646[139] = 0.0; - out_5646756432622182646[140] = 0.0; - out_5646756432622182646[141] = 0.0; - out_5646756432622182646[142] = 0.0; - out_5646756432622182646[143] = 0.0; - out_5646756432622182646[144] = 0.0; - out_5646756432622182646[145] = 0.0; - out_5646756432622182646[146] = 0.0; - out_5646756432622182646[147] = 0.0; - out_5646756432622182646[148] = 0.0; - out_5646756432622182646[149] = 0.0; - out_5646756432622182646[150] = 0.0; - out_5646756432622182646[151] = 0.0; - out_5646756432622182646[152] = 1.0; - out_5646756432622182646[153] = 0.0; - out_5646756432622182646[154] = 0.0; - out_5646756432622182646[155] = 0.0; - out_5646756432622182646[156] = 0.0; - out_5646756432622182646[157] = 0.0; - out_5646756432622182646[158] = 0.0; - out_5646756432622182646[159] = 0.0; - out_5646756432622182646[160] = 0.0; - out_5646756432622182646[161] = 0.0; - out_5646756432622182646[162] = 0.0; - out_5646756432622182646[163] = 0.0; - out_5646756432622182646[164] = 0.0; - out_5646756432622182646[165] = 0.0; - out_5646756432622182646[166] = 0.0; - out_5646756432622182646[167] = 0.0; - out_5646756432622182646[168] = 0.0; - out_5646756432622182646[169] = 0.0; - out_5646756432622182646[170] = 0.0; - out_5646756432622182646[171] = 1.0; - out_5646756432622182646[172] = 0.0; - out_5646756432622182646[173] = 0.0; - out_5646756432622182646[174] = 0.0; - out_5646756432622182646[175] = 0.0; - out_5646756432622182646[176] = 0.0; - out_5646756432622182646[177] = 0.0; - out_5646756432622182646[178] = 0.0; - out_5646756432622182646[179] = 0.0; - out_5646756432622182646[180] = 0.0; - out_5646756432622182646[181] = 0.0; - out_5646756432622182646[182] = 0.0; - out_5646756432622182646[183] = 0.0; - out_5646756432622182646[184] = 0.0; - out_5646756432622182646[185] = 0.0; - out_5646756432622182646[186] = 0.0; - out_5646756432622182646[187] = 0.0; - out_5646756432622182646[188] = 0.0; - out_5646756432622182646[189] = 0.0; - out_5646756432622182646[190] = 1.0; - out_5646756432622182646[191] = 0.0; - out_5646756432622182646[192] = 0.0; - out_5646756432622182646[193] = 0.0; - out_5646756432622182646[194] = 0.0; - out_5646756432622182646[195] = 0.0; - out_5646756432622182646[196] = 0.0; - out_5646756432622182646[197] = 0.0; - out_5646756432622182646[198] = 0.0; - out_5646756432622182646[199] = 0.0; - out_5646756432622182646[200] = 0.0; - out_5646756432622182646[201] = 0.0; - out_5646756432622182646[202] = 0.0; - out_5646756432622182646[203] = 0.0; - out_5646756432622182646[204] = 0.0; - out_5646756432622182646[205] = 0.0; - out_5646756432622182646[206] = 0.0; - out_5646756432622182646[207] = 0.0; - out_5646756432622182646[208] = 0.0; - out_5646756432622182646[209] = 1.0; - out_5646756432622182646[210] = 0.0; - out_5646756432622182646[211] = 0.0; - out_5646756432622182646[212] = 0.0; - out_5646756432622182646[213] = 0.0; - out_5646756432622182646[214] = 0.0; - out_5646756432622182646[215] = 0.0; - out_5646756432622182646[216] = 0.0; - out_5646756432622182646[217] = 0.0; - out_5646756432622182646[218] = 0.0; - out_5646756432622182646[219] = 0.0; - out_5646756432622182646[220] = 0.0; - out_5646756432622182646[221] = 0.0; - out_5646756432622182646[222] = 0.0; - out_5646756432622182646[223] = 0.0; - out_5646756432622182646[224] = 0.0; - out_5646756432622182646[225] = 0.0; - out_5646756432622182646[226] = 0.0; - out_5646756432622182646[227] = 0.0; - out_5646756432622182646[228] = 1.0; - out_5646756432622182646[229] = 0.0; - out_5646756432622182646[230] = 0.0; - out_5646756432622182646[231] = 0.0; - out_5646756432622182646[232] = 0.0; - out_5646756432622182646[233] = 0.0; - out_5646756432622182646[234] = 0.0; - out_5646756432622182646[235] = 0.0; - out_5646756432622182646[236] = 0.0; - out_5646756432622182646[237] = 0.0; - out_5646756432622182646[238] = 0.0; - out_5646756432622182646[239] = 0.0; - out_5646756432622182646[240] = 0.0; - out_5646756432622182646[241] = 0.0; - out_5646756432622182646[242] = 0.0; - out_5646756432622182646[243] = 0.0; - out_5646756432622182646[244] = 0.0; - out_5646756432622182646[245] = 0.0; - out_5646756432622182646[246] = 0.0; - out_5646756432622182646[247] = 1.0; - out_5646756432622182646[248] = 0.0; - out_5646756432622182646[249] = 0.0; - out_5646756432622182646[250] = 0.0; - out_5646756432622182646[251] = 0.0; - out_5646756432622182646[252] = 0.0; - out_5646756432622182646[253] = 0.0; - out_5646756432622182646[254] = 0.0; - out_5646756432622182646[255] = 0.0; - out_5646756432622182646[256] = 0.0; - out_5646756432622182646[257] = 0.0; - out_5646756432622182646[258] = 0.0; - out_5646756432622182646[259] = 0.0; - out_5646756432622182646[260] = 0.0; - out_5646756432622182646[261] = 0.0; - out_5646756432622182646[262] = 0.0; - out_5646756432622182646[263] = 0.0; - out_5646756432622182646[264] = 0.0; - out_5646756432622182646[265] = 0.0; - out_5646756432622182646[266] = 1.0; - out_5646756432622182646[267] = 0.0; - out_5646756432622182646[268] = 0.0; - out_5646756432622182646[269] = 0.0; - out_5646756432622182646[270] = 0.0; - out_5646756432622182646[271] = 0.0; - out_5646756432622182646[272] = 0.0; - out_5646756432622182646[273] = 0.0; - out_5646756432622182646[274] = 0.0; - out_5646756432622182646[275] = 0.0; - out_5646756432622182646[276] = 0.0; - out_5646756432622182646[277] = 0.0; - out_5646756432622182646[278] = 0.0; - out_5646756432622182646[279] = 0.0; - out_5646756432622182646[280] = 0.0; - out_5646756432622182646[281] = 0.0; - out_5646756432622182646[282] = 0.0; - out_5646756432622182646[283] = 0.0; - out_5646756432622182646[284] = 0.0; - out_5646756432622182646[285] = 1.0; - out_5646756432622182646[286] = 0.0; - out_5646756432622182646[287] = 0.0; - out_5646756432622182646[288] = 0.0; - out_5646756432622182646[289] = 0.0; - out_5646756432622182646[290] = 0.0; - out_5646756432622182646[291] = 0.0; - out_5646756432622182646[292] = 0.0; - out_5646756432622182646[293] = 0.0; - out_5646756432622182646[294] = 0.0; - out_5646756432622182646[295] = 0.0; - out_5646756432622182646[296] = 0.0; - out_5646756432622182646[297] = 0.0; - out_5646756432622182646[298] = 0.0; - out_5646756432622182646[299] = 0.0; - out_5646756432622182646[300] = 0.0; - out_5646756432622182646[301] = 0.0; - out_5646756432622182646[302] = 0.0; - out_5646756432622182646[303] = 0.0; - out_5646756432622182646[304] = 1.0; - out_5646756432622182646[305] = 0.0; - out_5646756432622182646[306] = 0.0; - out_5646756432622182646[307] = 0.0; - out_5646756432622182646[308] = 0.0; - out_5646756432622182646[309] = 0.0; - out_5646756432622182646[310] = 0.0; - out_5646756432622182646[311] = 0.0; - out_5646756432622182646[312] = 0.0; - out_5646756432622182646[313] = 0.0; - out_5646756432622182646[314] = 0.0; - out_5646756432622182646[315] = 0.0; - out_5646756432622182646[316] = 0.0; - out_5646756432622182646[317] = 0.0; - out_5646756432622182646[318] = 0.0; - out_5646756432622182646[319] = 0.0; - out_5646756432622182646[320] = 0.0; - out_5646756432622182646[321] = 0.0; - out_5646756432622182646[322] = 0.0; - out_5646756432622182646[323] = 1.0; +void H_mod_fun(double *state, double *out_6072805508798864108) { + out_6072805508798864108[0] = 1.0; + out_6072805508798864108[1] = 0.0; + out_6072805508798864108[2] = 0.0; + out_6072805508798864108[3] = 0.0; + out_6072805508798864108[4] = 0.0; + out_6072805508798864108[5] = 0.0; + out_6072805508798864108[6] = 0.0; + out_6072805508798864108[7] = 0.0; + out_6072805508798864108[8] = 0.0; + out_6072805508798864108[9] = 0.0; + out_6072805508798864108[10] = 0.0; + out_6072805508798864108[11] = 0.0; + out_6072805508798864108[12] = 0.0; + out_6072805508798864108[13] = 0.0; + out_6072805508798864108[14] = 0.0; + out_6072805508798864108[15] = 0.0; + out_6072805508798864108[16] = 0.0; + out_6072805508798864108[17] = 0.0; + out_6072805508798864108[18] = 0.0; + out_6072805508798864108[19] = 1.0; + out_6072805508798864108[20] = 0.0; + out_6072805508798864108[21] = 0.0; + out_6072805508798864108[22] = 0.0; + out_6072805508798864108[23] = 0.0; + out_6072805508798864108[24] = 0.0; + out_6072805508798864108[25] = 0.0; + out_6072805508798864108[26] = 0.0; + out_6072805508798864108[27] = 0.0; + out_6072805508798864108[28] = 0.0; + out_6072805508798864108[29] = 0.0; + out_6072805508798864108[30] = 0.0; + out_6072805508798864108[31] = 0.0; + out_6072805508798864108[32] = 0.0; + out_6072805508798864108[33] = 0.0; + out_6072805508798864108[34] = 0.0; + out_6072805508798864108[35] = 0.0; + out_6072805508798864108[36] = 0.0; + out_6072805508798864108[37] = 0.0; + out_6072805508798864108[38] = 1.0; + out_6072805508798864108[39] = 0.0; + out_6072805508798864108[40] = 0.0; + out_6072805508798864108[41] = 0.0; + out_6072805508798864108[42] = 0.0; + out_6072805508798864108[43] = 0.0; + out_6072805508798864108[44] = 0.0; + out_6072805508798864108[45] = 0.0; + out_6072805508798864108[46] = 0.0; + out_6072805508798864108[47] = 0.0; + out_6072805508798864108[48] = 0.0; + out_6072805508798864108[49] = 0.0; + out_6072805508798864108[50] = 0.0; + out_6072805508798864108[51] = 0.0; + out_6072805508798864108[52] = 0.0; + out_6072805508798864108[53] = 0.0; + out_6072805508798864108[54] = 0.0; + out_6072805508798864108[55] = 0.0; + out_6072805508798864108[56] = 0.0; + out_6072805508798864108[57] = 1.0; + out_6072805508798864108[58] = 0.0; + out_6072805508798864108[59] = 0.0; + out_6072805508798864108[60] = 0.0; + out_6072805508798864108[61] = 0.0; + out_6072805508798864108[62] = 0.0; + out_6072805508798864108[63] = 0.0; + out_6072805508798864108[64] = 0.0; + out_6072805508798864108[65] = 0.0; + out_6072805508798864108[66] = 0.0; + out_6072805508798864108[67] = 0.0; + out_6072805508798864108[68] = 0.0; + out_6072805508798864108[69] = 0.0; + out_6072805508798864108[70] = 0.0; + out_6072805508798864108[71] = 0.0; + out_6072805508798864108[72] = 0.0; + out_6072805508798864108[73] = 0.0; + out_6072805508798864108[74] = 0.0; + out_6072805508798864108[75] = 0.0; + out_6072805508798864108[76] = 1.0; + out_6072805508798864108[77] = 0.0; + out_6072805508798864108[78] = 0.0; + out_6072805508798864108[79] = 0.0; + out_6072805508798864108[80] = 0.0; + out_6072805508798864108[81] = 0.0; + out_6072805508798864108[82] = 0.0; + out_6072805508798864108[83] = 0.0; + out_6072805508798864108[84] = 0.0; + out_6072805508798864108[85] = 0.0; + out_6072805508798864108[86] = 0.0; + out_6072805508798864108[87] = 0.0; + out_6072805508798864108[88] = 0.0; + out_6072805508798864108[89] = 0.0; + out_6072805508798864108[90] = 0.0; + out_6072805508798864108[91] = 0.0; + out_6072805508798864108[92] = 0.0; + out_6072805508798864108[93] = 0.0; + out_6072805508798864108[94] = 0.0; + out_6072805508798864108[95] = 1.0; + out_6072805508798864108[96] = 0.0; + out_6072805508798864108[97] = 0.0; + out_6072805508798864108[98] = 0.0; + out_6072805508798864108[99] = 0.0; + out_6072805508798864108[100] = 0.0; + out_6072805508798864108[101] = 0.0; + out_6072805508798864108[102] = 0.0; + out_6072805508798864108[103] = 0.0; + out_6072805508798864108[104] = 0.0; + out_6072805508798864108[105] = 0.0; + out_6072805508798864108[106] = 0.0; + out_6072805508798864108[107] = 0.0; + out_6072805508798864108[108] = 0.0; + out_6072805508798864108[109] = 0.0; + out_6072805508798864108[110] = 0.0; + out_6072805508798864108[111] = 0.0; + out_6072805508798864108[112] = 0.0; + out_6072805508798864108[113] = 0.0; + out_6072805508798864108[114] = 1.0; + out_6072805508798864108[115] = 0.0; + out_6072805508798864108[116] = 0.0; + out_6072805508798864108[117] = 0.0; + out_6072805508798864108[118] = 0.0; + out_6072805508798864108[119] = 0.0; + out_6072805508798864108[120] = 0.0; + out_6072805508798864108[121] = 0.0; + out_6072805508798864108[122] = 0.0; + out_6072805508798864108[123] = 0.0; + out_6072805508798864108[124] = 0.0; + out_6072805508798864108[125] = 0.0; + out_6072805508798864108[126] = 0.0; + out_6072805508798864108[127] = 0.0; + out_6072805508798864108[128] = 0.0; + out_6072805508798864108[129] = 0.0; + out_6072805508798864108[130] = 0.0; + out_6072805508798864108[131] = 0.0; + out_6072805508798864108[132] = 0.0; + out_6072805508798864108[133] = 1.0; + out_6072805508798864108[134] = 0.0; + out_6072805508798864108[135] = 0.0; + out_6072805508798864108[136] = 0.0; + out_6072805508798864108[137] = 0.0; + out_6072805508798864108[138] = 0.0; + out_6072805508798864108[139] = 0.0; + out_6072805508798864108[140] = 0.0; + out_6072805508798864108[141] = 0.0; + out_6072805508798864108[142] = 0.0; + out_6072805508798864108[143] = 0.0; + out_6072805508798864108[144] = 0.0; + out_6072805508798864108[145] = 0.0; + out_6072805508798864108[146] = 0.0; + out_6072805508798864108[147] = 0.0; + out_6072805508798864108[148] = 0.0; + out_6072805508798864108[149] = 0.0; + out_6072805508798864108[150] = 0.0; + out_6072805508798864108[151] = 0.0; + out_6072805508798864108[152] = 1.0; + out_6072805508798864108[153] = 0.0; + out_6072805508798864108[154] = 0.0; + out_6072805508798864108[155] = 0.0; + out_6072805508798864108[156] = 0.0; + out_6072805508798864108[157] = 0.0; + out_6072805508798864108[158] = 0.0; + out_6072805508798864108[159] = 0.0; + out_6072805508798864108[160] = 0.0; + out_6072805508798864108[161] = 0.0; + out_6072805508798864108[162] = 0.0; + out_6072805508798864108[163] = 0.0; + out_6072805508798864108[164] = 0.0; + out_6072805508798864108[165] = 0.0; + out_6072805508798864108[166] = 0.0; + out_6072805508798864108[167] = 0.0; + out_6072805508798864108[168] = 0.0; + out_6072805508798864108[169] = 0.0; + out_6072805508798864108[170] = 0.0; + out_6072805508798864108[171] = 1.0; + out_6072805508798864108[172] = 0.0; + out_6072805508798864108[173] = 0.0; + out_6072805508798864108[174] = 0.0; + out_6072805508798864108[175] = 0.0; + out_6072805508798864108[176] = 0.0; + out_6072805508798864108[177] = 0.0; + out_6072805508798864108[178] = 0.0; + out_6072805508798864108[179] = 0.0; + out_6072805508798864108[180] = 0.0; + out_6072805508798864108[181] = 0.0; + out_6072805508798864108[182] = 0.0; + out_6072805508798864108[183] = 0.0; + out_6072805508798864108[184] = 0.0; + out_6072805508798864108[185] = 0.0; + out_6072805508798864108[186] = 0.0; + out_6072805508798864108[187] = 0.0; + out_6072805508798864108[188] = 0.0; + out_6072805508798864108[189] = 0.0; + out_6072805508798864108[190] = 1.0; + out_6072805508798864108[191] = 0.0; + out_6072805508798864108[192] = 0.0; + out_6072805508798864108[193] = 0.0; + out_6072805508798864108[194] = 0.0; + out_6072805508798864108[195] = 0.0; + out_6072805508798864108[196] = 0.0; + out_6072805508798864108[197] = 0.0; + out_6072805508798864108[198] = 0.0; + out_6072805508798864108[199] = 0.0; + out_6072805508798864108[200] = 0.0; + out_6072805508798864108[201] = 0.0; + out_6072805508798864108[202] = 0.0; + out_6072805508798864108[203] = 0.0; + out_6072805508798864108[204] = 0.0; + out_6072805508798864108[205] = 0.0; + out_6072805508798864108[206] = 0.0; + out_6072805508798864108[207] = 0.0; + out_6072805508798864108[208] = 0.0; + out_6072805508798864108[209] = 1.0; + out_6072805508798864108[210] = 0.0; + out_6072805508798864108[211] = 0.0; + out_6072805508798864108[212] = 0.0; + out_6072805508798864108[213] = 0.0; + out_6072805508798864108[214] = 0.0; + out_6072805508798864108[215] = 0.0; + out_6072805508798864108[216] = 0.0; + out_6072805508798864108[217] = 0.0; + out_6072805508798864108[218] = 0.0; + out_6072805508798864108[219] = 0.0; + out_6072805508798864108[220] = 0.0; + out_6072805508798864108[221] = 0.0; + out_6072805508798864108[222] = 0.0; + out_6072805508798864108[223] = 0.0; + out_6072805508798864108[224] = 0.0; + out_6072805508798864108[225] = 0.0; + out_6072805508798864108[226] = 0.0; + out_6072805508798864108[227] = 0.0; + out_6072805508798864108[228] = 1.0; + out_6072805508798864108[229] = 0.0; + out_6072805508798864108[230] = 0.0; + out_6072805508798864108[231] = 0.0; + out_6072805508798864108[232] = 0.0; + out_6072805508798864108[233] = 0.0; + out_6072805508798864108[234] = 0.0; + out_6072805508798864108[235] = 0.0; + out_6072805508798864108[236] = 0.0; + out_6072805508798864108[237] = 0.0; + out_6072805508798864108[238] = 0.0; + out_6072805508798864108[239] = 0.0; + out_6072805508798864108[240] = 0.0; + out_6072805508798864108[241] = 0.0; + out_6072805508798864108[242] = 0.0; + out_6072805508798864108[243] = 0.0; + out_6072805508798864108[244] = 0.0; + out_6072805508798864108[245] = 0.0; + out_6072805508798864108[246] = 0.0; + out_6072805508798864108[247] = 1.0; + out_6072805508798864108[248] = 0.0; + out_6072805508798864108[249] = 0.0; + out_6072805508798864108[250] = 0.0; + out_6072805508798864108[251] = 0.0; + out_6072805508798864108[252] = 0.0; + out_6072805508798864108[253] = 0.0; + out_6072805508798864108[254] = 0.0; + out_6072805508798864108[255] = 0.0; + out_6072805508798864108[256] = 0.0; + out_6072805508798864108[257] = 0.0; + out_6072805508798864108[258] = 0.0; + out_6072805508798864108[259] = 0.0; + out_6072805508798864108[260] = 0.0; + out_6072805508798864108[261] = 0.0; + out_6072805508798864108[262] = 0.0; + out_6072805508798864108[263] = 0.0; + out_6072805508798864108[264] = 0.0; + out_6072805508798864108[265] = 0.0; + out_6072805508798864108[266] = 1.0; + out_6072805508798864108[267] = 0.0; + out_6072805508798864108[268] = 0.0; + out_6072805508798864108[269] = 0.0; + out_6072805508798864108[270] = 0.0; + out_6072805508798864108[271] = 0.0; + out_6072805508798864108[272] = 0.0; + out_6072805508798864108[273] = 0.0; + out_6072805508798864108[274] = 0.0; + out_6072805508798864108[275] = 0.0; + out_6072805508798864108[276] = 0.0; + out_6072805508798864108[277] = 0.0; + out_6072805508798864108[278] = 0.0; + out_6072805508798864108[279] = 0.0; + out_6072805508798864108[280] = 0.0; + out_6072805508798864108[281] = 0.0; + out_6072805508798864108[282] = 0.0; + out_6072805508798864108[283] = 0.0; + out_6072805508798864108[284] = 0.0; + out_6072805508798864108[285] = 1.0; + out_6072805508798864108[286] = 0.0; + out_6072805508798864108[287] = 0.0; + out_6072805508798864108[288] = 0.0; + out_6072805508798864108[289] = 0.0; + out_6072805508798864108[290] = 0.0; + out_6072805508798864108[291] = 0.0; + out_6072805508798864108[292] = 0.0; + out_6072805508798864108[293] = 0.0; + out_6072805508798864108[294] = 0.0; + out_6072805508798864108[295] = 0.0; + out_6072805508798864108[296] = 0.0; + out_6072805508798864108[297] = 0.0; + out_6072805508798864108[298] = 0.0; + out_6072805508798864108[299] = 0.0; + out_6072805508798864108[300] = 0.0; + out_6072805508798864108[301] = 0.0; + out_6072805508798864108[302] = 0.0; + out_6072805508798864108[303] = 0.0; + out_6072805508798864108[304] = 1.0; + out_6072805508798864108[305] = 0.0; + out_6072805508798864108[306] = 0.0; + out_6072805508798864108[307] = 0.0; + out_6072805508798864108[308] = 0.0; + out_6072805508798864108[309] = 0.0; + out_6072805508798864108[310] = 0.0; + out_6072805508798864108[311] = 0.0; + out_6072805508798864108[312] = 0.0; + out_6072805508798864108[313] = 0.0; + out_6072805508798864108[314] = 0.0; + out_6072805508798864108[315] = 0.0; + out_6072805508798864108[316] = 0.0; + out_6072805508798864108[317] = 0.0; + out_6072805508798864108[318] = 0.0; + out_6072805508798864108[319] = 0.0; + out_6072805508798864108[320] = 0.0; + out_6072805508798864108[321] = 0.0; + out_6072805508798864108[322] = 0.0; + out_6072805508798864108[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1137320570887410122) { - out_1137320570887410122[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_1137320570887410122[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_1137320570887410122[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_1137320570887410122[3] = dt*state[12] + state[3]; - out_1137320570887410122[4] = dt*state[13] + state[4]; - out_1137320570887410122[5] = dt*state[14] + state[5]; - out_1137320570887410122[6] = state[6]; - out_1137320570887410122[7] = state[7]; - out_1137320570887410122[8] = state[8]; - out_1137320570887410122[9] = state[9]; - out_1137320570887410122[10] = state[10]; - out_1137320570887410122[11] = state[11]; - out_1137320570887410122[12] = state[12]; - out_1137320570887410122[13] = state[13]; - out_1137320570887410122[14] = state[14]; - out_1137320570887410122[15] = state[15]; - out_1137320570887410122[16] = state[16]; - out_1137320570887410122[17] = state[17]; +void f_fun(double *state, double dt, double *out_5954902381465487783) { + out_5954902381465487783[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_5954902381465487783[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_5954902381465487783[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_5954902381465487783[3] = dt*state[12] + state[3]; + out_5954902381465487783[4] = dt*state[13] + state[4]; + out_5954902381465487783[5] = dt*state[14] + state[5]; + out_5954902381465487783[6] = state[6]; + out_5954902381465487783[7] = state[7]; + out_5954902381465487783[8] = state[8]; + out_5954902381465487783[9] = state[9]; + out_5954902381465487783[10] = state[10]; + out_5954902381465487783[11] = state[11]; + out_5954902381465487783[12] = state[12]; + out_5954902381465487783[13] = state[13]; + out_5954902381465487783[14] = state[14]; + out_5954902381465487783[15] = state[15]; + out_5954902381465487783[16] = state[16]; + out_5954902381465487783[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2697011094328554799) { - out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[2] = 0; - out_2697011094328554799[3] = 0; - out_2697011094328554799[4] = 0; - out_2697011094328554799[5] = 0; - out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[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_2697011094328554799[9] = 0; - out_2697011094328554799[10] = 0; - out_2697011094328554799[11] = 0; - out_2697011094328554799[12] = 0; - out_2697011094328554799[13] = 0; - out_2697011094328554799[14] = 0; - out_2697011094328554799[15] = 0; - out_2697011094328554799[16] = 0; - out_2697011094328554799[17] = 0; - out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[20] = 0; - out_2697011094328554799[21] = 0; - out_2697011094328554799[22] = 0; - out_2697011094328554799[23] = 0; - out_2697011094328554799[24] = 0; - out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[27] = 0; - out_2697011094328554799[28] = 0; - out_2697011094328554799[29] = 0; - out_2697011094328554799[30] = 0; - out_2697011094328554799[31] = 0; - out_2697011094328554799[32] = 0; - out_2697011094328554799[33] = 0; - out_2697011094328554799[34] = 0; - out_2697011094328554799[35] = 0; - out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[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_2697011094328554799[39] = 0; - out_2697011094328554799[40] = 0; - out_2697011094328554799[41] = 0; - out_2697011094328554799[42] = 0; - out_2697011094328554799[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_2697011094328554799[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_2697011094328554799[45] = 0; - out_2697011094328554799[46] = 0; - out_2697011094328554799[47] = 0; - out_2697011094328554799[48] = 0; - out_2697011094328554799[49] = 0; - out_2697011094328554799[50] = 0; - out_2697011094328554799[51] = 0; - out_2697011094328554799[52] = 0; - out_2697011094328554799[53] = 0; - out_2697011094328554799[54] = 0; - out_2697011094328554799[55] = 0; - out_2697011094328554799[56] = 0; - out_2697011094328554799[57] = 1; - out_2697011094328554799[58] = 0; - out_2697011094328554799[59] = 0; - out_2697011094328554799[60] = 0; - out_2697011094328554799[61] = 0; - out_2697011094328554799[62] = 0; - out_2697011094328554799[63] = 0; - out_2697011094328554799[64] = 0; - out_2697011094328554799[65] = 0; - out_2697011094328554799[66] = dt; - out_2697011094328554799[67] = 0; - out_2697011094328554799[68] = 0; - out_2697011094328554799[69] = 0; - out_2697011094328554799[70] = 0; - out_2697011094328554799[71] = 0; - out_2697011094328554799[72] = 0; - out_2697011094328554799[73] = 0; - out_2697011094328554799[74] = 0; - out_2697011094328554799[75] = 0; - out_2697011094328554799[76] = 1; - out_2697011094328554799[77] = 0; - out_2697011094328554799[78] = 0; - out_2697011094328554799[79] = 0; - out_2697011094328554799[80] = 0; - out_2697011094328554799[81] = 0; - out_2697011094328554799[82] = 0; - out_2697011094328554799[83] = 0; - out_2697011094328554799[84] = 0; - out_2697011094328554799[85] = dt; - out_2697011094328554799[86] = 0; - out_2697011094328554799[87] = 0; - out_2697011094328554799[88] = 0; - out_2697011094328554799[89] = 0; - out_2697011094328554799[90] = 0; - out_2697011094328554799[91] = 0; - out_2697011094328554799[92] = 0; - out_2697011094328554799[93] = 0; - out_2697011094328554799[94] = 0; - out_2697011094328554799[95] = 1; - out_2697011094328554799[96] = 0; - out_2697011094328554799[97] = 0; - out_2697011094328554799[98] = 0; - out_2697011094328554799[99] = 0; - out_2697011094328554799[100] = 0; - out_2697011094328554799[101] = 0; - out_2697011094328554799[102] = 0; - out_2697011094328554799[103] = 0; - out_2697011094328554799[104] = dt; - out_2697011094328554799[105] = 0; - out_2697011094328554799[106] = 0; - out_2697011094328554799[107] = 0; - out_2697011094328554799[108] = 0; - out_2697011094328554799[109] = 0; - out_2697011094328554799[110] = 0; - out_2697011094328554799[111] = 0; - out_2697011094328554799[112] = 0; - out_2697011094328554799[113] = 0; - out_2697011094328554799[114] = 1; - out_2697011094328554799[115] = 0; - out_2697011094328554799[116] = 0; - out_2697011094328554799[117] = 0; - out_2697011094328554799[118] = 0; - out_2697011094328554799[119] = 0; - out_2697011094328554799[120] = 0; - out_2697011094328554799[121] = 0; - out_2697011094328554799[122] = 0; - out_2697011094328554799[123] = 0; - out_2697011094328554799[124] = 0; - out_2697011094328554799[125] = 0; - out_2697011094328554799[126] = 0; - out_2697011094328554799[127] = 0; - out_2697011094328554799[128] = 0; - out_2697011094328554799[129] = 0; - out_2697011094328554799[130] = 0; - out_2697011094328554799[131] = 0; - out_2697011094328554799[132] = 0; - out_2697011094328554799[133] = 1; - out_2697011094328554799[134] = 0; - out_2697011094328554799[135] = 0; - out_2697011094328554799[136] = 0; - out_2697011094328554799[137] = 0; - out_2697011094328554799[138] = 0; - out_2697011094328554799[139] = 0; - out_2697011094328554799[140] = 0; - out_2697011094328554799[141] = 0; - out_2697011094328554799[142] = 0; - out_2697011094328554799[143] = 0; - out_2697011094328554799[144] = 0; - out_2697011094328554799[145] = 0; - out_2697011094328554799[146] = 0; - out_2697011094328554799[147] = 0; - out_2697011094328554799[148] = 0; - out_2697011094328554799[149] = 0; - out_2697011094328554799[150] = 0; - out_2697011094328554799[151] = 0; - out_2697011094328554799[152] = 1; - out_2697011094328554799[153] = 0; - out_2697011094328554799[154] = 0; - out_2697011094328554799[155] = 0; - out_2697011094328554799[156] = 0; - out_2697011094328554799[157] = 0; - out_2697011094328554799[158] = 0; - out_2697011094328554799[159] = 0; - out_2697011094328554799[160] = 0; - out_2697011094328554799[161] = 0; - out_2697011094328554799[162] = 0; - out_2697011094328554799[163] = 0; - out_2697011094328554799[164] = 0; - out_2697011094328554799[165] = 0; - out_2697011094328554799[166] = 0; - out_2697011094328554799[167] = 0; - out_2697011094328554799[168] = 0; - out_2697011094328554799[169] = 0; - out_2697011094328554799[170] = 0; - out_2697011094328554799[171] = 1; - out_2697011094328554799[172] = 0; - out_2697011094328554799[173] = 0; - out_2697011094328554799[174] = 0; - out_2697011094328554799[175] = 0; - out_2697011094328554799[176] = 0; - out_2697011094328554799[177] = 0; - out_2697011094328554799[178] = 0; - out_2697011094328554799[179] = 0; - out_2697011094328554799[180] = 0; - out_2697011094328554799[181] = 0; - out_2697011094328554799[182] = 0; - out_2697011094328554799[183] = 0; - out_2697011094328554799[184] = 0; - out_2697011094328554799[185] = 0; - out_2697011094328554799[186] = 0; - out_2697011094328554799[187] = 0; - out_2697011094328554799[188] = 0; - out_2697011094328554799[189] = 0; - out_2697011094328554799[190] = 1; - out_2697011094328554799[191] = 0; - out_2697011094328554799[192] = 0; - out_2697011094328554799[193] = 0; - out_2697011094328554799[194] = 0; - out_2697011094328554799[195] = 0; - out_2697011094328554799[196] = 0; - out_2697011094328554799[197] = 0; - out_2697011094328554799[198] = 0; - out_2697011094328554799[199] = 0; - out_2697011094328554799[200] = 0; - out_2697011094328554799[201] = 0; - out_2697011094328554799[202] = 0; - out_2697011094328554799[203] = 0; - out_2697011094328554799[204] = 0; - out_2697011094328554799[205] = 0; - out_2697011094328554799[206] = 0; - out_2697011094328554799[207] = 0; - out_2697011094328554799[208] = 0; - out_2697011094328554799[209] = 1; - out_2697011094328554799[210] = 0; - out_2697011094328554799[211] = 0; - out_2697011094328554799[212] = 0; - out_2697011094328554799[213] = 0; - out_2697011094328554799[214] = 0; - out_2697011094328554799[215] = 0; - out_2697011094328554799[216] = 0; - out_2697011094328554799[217] = 0; - out_2697011094328554799[218] = 0; - out_2697011094328554799[219] = 0; - out_2697011094328554799[220] = 0; - out_2697011094328554799[221] = 0; - out_2697011094328554799[222] = 0; - out_2697011094328554799[223] = 0; - out_2697011094328554799[224] = 0; - out_2697011094328554799[225] = 0; - out_2697011094328554799[226] = 0; - out_2697011094328554799[227] = 0; - out_2697011094328554799[228] = 1; - out_2697011094328554799[229] = 0; - out_2697011094328554799[230] = 0; - out_2697011094328554799[231] = 0; - out_2697011094328554799[232] = 0; - out_2697011094328554799[233] = 0; - out_2697011094328554799[234] = 0; - out_2697011094328554799[235] = 0; - out_2697011094328554799[236] = 0; - out_2697011094328554799[237] = 0; - out_2697011094328554799[238] = 0; - out_2697011094328554799[239] = 0; - out_2697011094328554799[240] = 0; - out_2697011094328554799[241] = 0; - out_2697011094328554799[242] = 0; - out_2697011094328554799[243] = 0; - out_2697011094328554799[244] = 0; - out_2697011094328554799[245] = 0; - out_2697011094328554799[246] = 0; - out_2697011094328554799[247] = 1; - out_2697011094328554799[248] = 0; - out_2697011094328554799[249] = 0; - out_2697011094328554799[250] = 0; - out_2697011094328554799[251] = 0; - out_2697011094328554799[252] = 0; - out_2697011094328554799[253] = 0; - out_2697011094328554799[254] = 0; - out_2697011094328554799[255] = 0; - out_2697011094328554799[256] = 0; - out_2697011094328554799[257] = 0; - out_2697011094328554799[258] = 0; - out_2697011094328554799[259] = 0; - out_2697011094328554799[260] = 0; - out_2697011094328554799[261] = 0; - out_2697011094328554799[262] = 0; - out_2697011094328554799[263] = 0; - out_2697011094328554799[264] = 0; - out_2697011094328554799[265] = 0; - out_2697011094328554799[266] = 1; - out_2697011094328554799[267] = 0; - out_2697011094328554799[268] = 0; - out_2697011094328554799[269] = 0; - out_2697011094328554799[270] = 0; - out_2697011094328554799[271] = 0; - out_2697011094328554799[272] = 0; - out_2697011094328554799[273] = 0; - out_2697011094328554799[274] = 0; - out_2697011094328554799[275] = 0; - out_2697011094328554799[276] = 0; - out_2697011094328554799[277] = 0; - out_2697011094328554799[278] = 0; - out_2697011094328554799[279] = 0; - out_2697011094328554799[280] = 0; - out_2697011094328554799[281] = 0; - out_2697011094328554799[282] = 0; - out_2697011094328554799[283] = 0; - out_2697011094328554799[284] = 0; - out_2697011094328554799[285] = 1; - out_2697011094328554799[286] = 0; - out_2697011094328554799[287] = 0; - out_2697011094328554799[288] = 0; - out_2697011094328554799[289] = 0; - out_2697011094328554799[290] = 0; - out_2697011094328554799[291] = 0; - out_2697011094328554799[292] = 0; - out_2697011094328554799[293] = 0; - out_2697011094328554799[294] = 0; - out_2697011094328554799[295] = 0; - out_2697011094328554799[296] = 0; - out_2697011094328554799[297] = 0; - out_2697011094328554799[298] = 0; - out_2697011094328554799[299] = 0; - out_2697011094328554799[300] = 0; - out_2697011094328554799[301] = 0; - out_2697011094328554799[302] = 0; - out_2697011094328554799[303] = 0; - out_2697011094328554799[304] = 1; - out_2697011094328554799[305] = 0; - out_2697011094328554799[306] = 0; - out_2697011094328554799[307] = 0; - out_2697011094328554799[308] = 0; - out_2697011094328554799[309] = 0; - out_2697011094328554799[310] = 0; - out_2697011094328554799[311] = 0; - out_2697011094328554799[312] = 0; - out_2697011094328554799[313] = 0; - out_2697011094328554799[314] = 0; - out_2697011094328554799[315] = 0; - out_2697011094328554799[316] = 0; - out_2697011094328554799[317] = 0; - out_2697011094328554799[318] = 0; - out_2697011094328554799[319] = 0; - out_2697011094328554799[320] = 0; - out_2697011094328554799[321] = 0; - out_2697011094328554799[322] = 0; - out_2697011094328554799[323] = 1; +void F_fun(double *state, double dt, double *out_3606916503598787696) { + out_3606916503598787696[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_3606916503598787696[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_3606916503598787696[2] = 0; + out_3606916503598787696[3] = 0; + out_3606916503598787696[4] = 0; + out_3606916503598787696[5] = 0; + out_3606916503598787696[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_3606916503598787696[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_3606916503598787696[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_3606916503598787696[9] = 0; + out_3606916503598787696[10] = 0; + out_3606916503598787696[11] = 0; + out_3606916503598787696[12] = 0; + out_3606916503598787696[13] = 0; + out_3606916503598787696[14] = 0; + out_3606916503598787696[15] = 0; + out_3606916503598787696[16] = 0; + out_3606916503598787696[17] = 0; + out_3606916503598787696[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_3606916503598787696[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_3606916503598787696[20] = 0; + out_3606916503598787696[21] = 0; + out_3606916503598787696[22] = 0; + out_3606916503598787696[23] = 0; + out_3606916503598787696[24] = 0; + out_3606916503598787696[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_3606916503598787696[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_3606916503598787696[27] = 0; + out_3606916503598787696[28] = 0; + out_3606916503598787696[29] = 0; + out_3606916503598787696[30] = 0; + out_3606916503598787696[31] = 0; + out_3606916503598787696[32] = 0; + out_3606916503598787696[33] = 0; + out_3606916503598787696[34] = 0; + out_3606916503598787696[35] = 0; + out_3606916503598787696[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_3606916503598787696[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_3606916503598787696[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_3606916503598787696[39] = 0; + out_3606916503598787696[40] = 0; + out_3606916503598787696[41] = 0; + out_3606916503598787696[42] = 0; + out_3606916503598787696[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_3606916503598787696[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_3606916503598787696[45] = 0; + out_3606916503598787696[46] = 0; + out_3606916503598787696[47] = 0; + out_3606916503598787696[48] = 0; + out_3606916503598787696[49] = 0; + out_3606916503598787696[50] = 0; + out_3606916503598787696[51] = 0; + out_3606916503598787696[52] = 0; + out_3606916503598787696[53] = 0; + out_3606916503598787696[54] = 0; + out_3606916503598787696[55] = 0; + out_3606916503598787696[56] = 0; + out_3606916503598787696[57] = 1; + out_3606916503598787696[58] = 0; + out_3606916503598787696[59] = 0; + out_3606916503598787696[60] = 0; + out_3606916503598787696[61] = 0; + out_3606916503598787696[62] = 0; + out_3606916503598787696[63] = 0; + out_3606916503598787696[64] = 0; + out_3606916503598787696[65] = 0; + out_3606916503598787696[66] = dt; + out_3606916503598787696[67] = 0; + out_3606916503598787696[68] = 0; + out_3606916503598787696[69] = 0; + out_3606916503598787696[70] = 0; + out_3606916503598787696[71] = 0; + out_3606916503598787696[72] = 0; + out_3606916503598787696[73] = 0; + out_3606916503598787696[74] = 0; + out_3606916503598787696[75] = 0; + out_3606916503598787696[76] = 1; + out_3606916503598787696[77] = 0; + out_3606916503598787696[78] = 0; + out_3606916503598787696[79] = 0; + out_3606916503598787696[80] = 0; + out_3606916503598787696[81] = 0; + out_3606916503598787696[82] = 0; + out_3606916503598787696[83] = 0; + out_3606916503598787696[84] = 0; + out_3606916503598787696[85] = dt; + out_3606916503598787696[86] = 0; + out_3606916503598787696[87] = 0; + out_3606916503598787696[88] = 0; + out_3606916503598787696[89] = 0; + out_3606916503598787696[90] = 0; + out_3606916503598787696[91] = 0; + out_3606916503598787696[92] = 0; + out_3606916503598787696[93] = 0; + out_3606916503598787696[94] = 0; + out_3606916503598787696[95] = 1; + out_3606916503598787696[96] = 0; + out_3606916503598787696[97] = 0; + out_3606916503598787696[98] = 0; + out_3606916503598787696[99] = 0; + out_3606916503598787696[100] = 0; + out_3606916503598787696[101] = 0; + out_3606916503598787696[102] = 0; + out_3606916503598787696[103] = 0; + out_3606916503598787696[104] = dt; + out_3606916503598787696[105] = 0; + out_3606916503598787696[106] = 0; + out_3606916503598787696[107] = 0; + out_3606916503598787696[108] = 0; + out_3606916503598787696[109] = 0; + out_3606916503598787696[110] = 0; + out_3606916503598787696[111] = 0; + out_3606916503598787696[112] = 0; + out_3606916503598787696[113] = 0; + out_3606916503598787696[114] = 1; + out_3606916503598787696[115] = 0; + out_3606916503598787696[116] = 0; + out_3606916503598787696[117] = 0; + out_3606916503598787696[118] = 0; + out_3606916503598787696[119] = 0; + out_3606916503598787696[120] = 0; + out_3606916503598787696[121] = 0; + out_3606916503598787696[122] = 0; + out_3606916503598787696[123] = 0; + out_3606916503598787696[124] = 0; + out_3606916503598787696[125] = 0; + out_3606916503598787696[126] = 0; + out_3606916503598787696[127] = 0; + out_3606916503598787696[128] = 0; + out_3606916503598787696[129] = 0; + out_3606916503598787696[130] = 0; + out_3606916503598787696[131] = 0; + out_3606916503598787696[132] = 0; + out_3606916503598787696[133] = 1; + out_3606916503598787696[134] = 0; + out_3606916503598787696[135] = 0; + out_3606916503598787696[136] = 0; + out_3606916503598787696[137] = 0; + out_3606916503598787696[138] = 0; + out_3606916503598787696[139] = 0; + out_3606916503598787696[140] = 0; + out_3606916503598787696[141] = 0; + out_3606916503598787696[142] = 0; + out_3606916503598787696[143] = 0; + out_3606916503598787696[144] = 0; + out_3606916503598787696[145] = 0; + out_3606916503598787696[146] = 0; + out_3606916503598787696[147] = 0; + out_3606916503598787696[148] = 0; + out_3606916503598787696[149] = 0; + out_3606916503598787696[150] = 0; + out_3606916503598787696[151] = 0; + out_3606916503598787696[152] = 1; + out_3606916503598787696[153] = 0; + out_3606916503598787696[154] = 0; + out_3606916503598787696[155] = 0; + out_3606916503598787696[156] = 0; + out_3606916503598787696[157] = 0; + out_3606916503598787696[158] = 0; + out_3606916503598787696[159] = 0; + out_3606916503598787696[160] = 0; + out_3606916503598787696[161] = 0; + out_3606916503598787696[162] = 0; + out_3606916503598787696[163] = 0; + out_3606916503598787696[164] = 0; + out_3606916503598787696[165] = 0; + out_3606916503598787696[166] = 0; + out_3606916503598787696[167] = 0; + out_3606916503598787696[168] = 0; + out_3606916503598787696[169] = 0; + out_3606916503598787696[170] = 0; + out_3606916503598787696[171] = 1; + out_3606916503598787696[172] = 0; + out_3606916503598787696[173] = 0; + out_3606916503598787696[174] = 0; + out_3606916503598787696[175] = 0; + out_3606916503598787696[176] = 0; + out_3606916503598787696[177] = 0; + out_3606916503598787696[178] = 0; + out_3606916503598787696[179] = 0; + out_3606916503598787696[180] = 0; + out_3606916503598787696[181] = 0; + out_3606916503598787696[182] = 0; + out_3606916503598787696[183] = 0; + out_3606916503598787696[184] = 0; + out_3606916503598787696[185] = 0; + out_3606916503598787696[186] = 0; + out_3606916503598787696[187] = 0; + out_3606916503598787696[188] = 0; + out_3606916503598787696[189] = 0; + out_3606916503598787696[190] = 1; + out_3606916503598787696[191] = 0; + out_3606916503598787696[192] = 0; + out_3606916503598787696[193] = 0; + out_3606916503598787696[194] = 0; + out_3606916503598787696[195] = 0; + out_3606916503598787696[196] = 0; + out_3606916503598787696[197] = 0; + out_3606916503598787696[198] = 0; + out_3606916503598787696[199] = 0; + out_3606916503598787696[200] = 0; + out_3606916503598787696[201] = 0; + out_3606916503598787696[202] = 0; + out_3606916503598787696[203] = 0; + out_3606916503598787696[204] = 0; + out_3606916503598787696[205] = 0; + out_3606916503598787696[206] = 0; + out_3606916503598787696[207] = 0; + out_3606916503598787696[208] = 0; + out_3606916503598787696[209] = 1; + out_3606916503598787696[210] = 0; + out_3606916503598787696[211] = 0; + out_3606916503598787696[212] = 0; + out_3606916503598787696[213] = 0; + out_3606916503598787696[214] = 0; + out_3606916503598787696[215] = 0; + out_3606916503598787696[216] = 0; + out_3606916503598787696[217] = 0; + out_3606916503598787696[218] = 0; + out_3606916503598787696[219] = 0; + out_3606916503598787696[220] = 0; + out_3606916503598787696[221] = 0; + out_3606916503598787696[222] = 0; + out_3606916503598787696[223] = 0; + out_3606916503598787696[224] = 0; + out_3606916503598787696[225] = 0; + out_3606916503598787696[226] = 0; + out_3606916503598787696[227] = 0; + out_3606916503598787696[228] = 1; + out_3606916503598787696[229] = 0; + out_3606916503598787696[230] = 0; + out_3606916503598787696[231] = 0; + out_3606916503598787696[232] = 0; + out_3606916503598787696[233] = 0; + out_3606916503598787696[234] = 0; + out_3606916503598787696[235] = 0; + out_3606916503598787696[236] = 0; + out_3606916503598787696[237] = 0; + out_3606916503598787696[238] = 0; + out_3606916503598787696[239] = 0; + out_3606916503598787696[240] = 0; + out_3606916503598787696[241] = 0; + out_3606916503598787696[242] = 0; + out_3606916503598787696[243] = 0; + out_3606916503598787696[244] = 0; + out_3606916503598787696[245] = 0; + out_3606916503598787696[246] = 0; + out_3606916503598787696[247] = 1; + out_3606916503598787696[248] = 0; + out_3606916503598787696[249] = 0; + out_3606916503598787696[250] = 0; + out_3606916503598787696[251] = 0; + out_3606916503598787696[252] = 0; + out_3606916503598787696[253] = 0; + out_3606916503598787696[254] = 0; + out_3606916503598787696[255] = 0; + out_3606916503598787696[256] = 0; + out_3606916503598787696[257] = 0; + out_3606916503598787696[258] = 0; + out_3606916503598787696[259] = 0; + out_3606916503598787696[260] = 0; + out_3606916503598787696[261] = 0; + out_3606916503598787696[262] = 0; + out_3606916503598787696[263] = 0; + out_3606916503598787696[264] = 0; + out_3606916503598787696[265] = 0; + out_3606916503598787696[266] = 1; + out_3606916503598787696[267] = 0; + out_3606916503598787696[268] = 0; + out_3606916503598787696[269] = 0; + out_3606916503598787696[270] = 0; + out_3606916503598787696[271] = 0; + out_3606916503598787696[272] = 0; + out_3606916503598787696[273] = 0; + out_3606916503598787696[274] = 0; + out_3606916503598787696[275] = 0; + out_3606916503598787696[276] = 0; + out_3606916503598787696[277] = 0; + out_3606916503598787696[278] = 0; + out_3606916503598787696[279] = 0; + out_3606916503598787696[280] = 0; + out_3606916503598787696[281] = 0; + out_3606916503598787696[282] = 0; + out_3606916503598787696[283] = 0; + out_3606916503598787696[284] = 0; + out_3606916503598787696[285] = 1; + out_3606916503598787696[286] = 0; + out_3606916503598787696[287] = 0; + out_3606916503598787696[288] = 0; + out_3606916503598787696[289] = 0; + out_3606916503598787696[290] = 0; + out_3606916503598787696[291] = 0; + out_3606916503598787696[292] = 0; + out_3606916503598787696[293] = 0; + out_3606916503598787696[294] = 0; + out_3606916503598787696[295] = 0; + out_3606916503598787696[296] = 0; + out_3606916503598787696[297] = 0; + out_3606916503598787696[298] = 0; + out_3606916503598787696[299] = 0; + out_3606916503598787696[300] = 0; + out_3606916503598787696[301] = 0; + out_3606916503598787696[302] = 0; + out_3606916503598787696[303] = 0; + out_3606916503598787696[304] = 1; + out_3606916503598787696[305] = 0; + out_3606916503598787696[306] = 0; + out_3606916503598787696[307] = 0; + out_3606916503598787696[308] = 0; + out_3606916503598787696[309] = 0; + out_3606916503598787696[310] = 0; + out_3606916503598787696[311] = 0; + out_3606916503598787696[312] = 0; + out_3606916503598787696[313] = 0; + out_3606916503598787696[314] = 0; + out_3606916503598787696[315] = 0; + out_3606916503598787696[316] = 0; + out_3606916503598787696[317] = 0; + out_3606916503598787696[318] = 0; + out_3606916503598787696[319] = 0; + out_3606916503598787696[320] = 0; + out_3606916503598787696[321] = 0; + out_3606916503598787696[322] = 0; + out_3606916503598787696[323] = 1; } -void h_4(double *state, double *unused, double *out_1053451418042427012) { - out_1053451418042427012[0] = state[6] + state[9]; - out_1053451418042427012[1] = state[7] + state[10]; - out_1053451418042427012[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5987237266806342619) { + out_5987237266806342619[0] = state[6] + state[9]; + out_5987237266806342619[1] = state[7] + state[10]; + out_5987237266806342619[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_7540267336217958736) { - out_7540267336217958736[0] = 0; - out_7540267336217958736[1] = 0; - out_7540267336217958736[2] = 0; - out_7540267336217958736[3] = 0; - out_7540267336217958736[4] = 0; - out_7540267336217958736[5] = 0; - out_7540267336217958736[6] = 1; - out_7540267336217958736[7] = 0; - out_7540267336217958736[8] = 0; - out_7540267336217958736[9] = 1; - out_7540267336217958736[10] = 0; - out_7540267336217958736[11] = 0; - out_7540267336217958736[12] = 0; - out_7540267336217958736[13] = 0; - out_7540267336217958736[14] = 0; - out_7540267336217958736[15] = 0; - out_7540267336217958736[16] = 0; - out_7540267336217958736[17] = 0; - out_7540267336217958736[18] = 0; - out_7540267336217958736[19] = 0; - out_7540267336217958736[20] = 0; - out_7540267336217958736[21] = 0; - out_7540267336217958736[22] = 0; - out_7540267336217958736[23] = 0; - out_7540267336217958736[24] = 0; - out_7540267336217958736[25] = 1; - out_7540267336217958736[26] = 0; - out_7540267336217958736[27] = 0; - out_7540267336217958736[28] = 1; - out_7540267336217958736[29] = 0; - out_7540267336217958736[30] = 0; - out_7540267336217958736[31] = 0; - out_7540267336217958736[32] = 0; - out_7540267336217958736[33] = 0; - out_7540267336217958736[34] = 0; - out_7540267336217958736[35] = 0; - out_7540267336217958736[36] = 0; - out_7540267336217958736[37] = 0; - out_7540267336217958736[38] = 0; - out_7540267336217958736[39] = 0; - out_7540267336217958736[40] = 0; - out_7540267336217958736[41] = 0; - out_7540267336217958736[42] = 0; - out_7540267336217958736[43] = 0; - out_7540267336217958736[44] = 1; - out_7540267336217958736[45] = 0; - out_7540267336217958736[46] = 0; - out_7540267336217958736[47] = 1; - out_7540267336217958736[48] = 0; - out_7540267336217958736[49] = 0; - out_7540267336217958736[50] = 0; - out_7540267336217958736[51] = 0; - out_7540267336217958736[52] = 0; - out_7540267336217958736[53] = 0; +void H_4(double *state, double *unused, double *out_2798583430007914855) { + out_2798583430007914855[0] = 0; + out_2798583430007914855[1] = 0; + out_2798583430007914855[2] = 0; + out_2798583430007914855[3] = 0; + out_2798583430007914855[4] = 0; + out_2798583430007914855[5] = 0; + out_2798583430007914855[6] = 1; + out_2798583430007914855[7] = 0; + out_2798583430007914855[8] = 0; + out_2798583430007914855[9] = 1; + out_2798583430007914855[10] = 0; + out_2798583430007914855[11] = 0; + out_2798583430007914855[12] = 0; + out_2798583430007914855[13] = 0; + out_2798583430007914855[14] = 0; + out_2798583430007914855[15] = 0; + out_2798583430007914855[16] = 0; + out_2798583430007914855[17] = 0; + out_2798583430007914855[18] = 0; + out_2798583430007914855[19] = 0; + out_2798583430007914855[20] = 0; + out_2798583430007914855[21] = 0; + out_2798583430007914855[22] = 0; + out_2798583430007914855[23] = 0; + out_2798583430007914855[24] = 0; + out_2798583430007914855[25] = 1; + out_2798583430007914855[26] = 0; + out_2798583430007914855[27] = 0; + out_2798583430007914855[28] = 1; + out_2798583430007914855[29] = 0; + out_2798583430007914855[30] = 0; + out_2798583430007914855[31] = 0; + out_2798583430007914855[32] = 0; + out_2798583430007914855[33] = 0; + out_2798583430007914855[34] = 0; + out_2798583430007914855[35] = 0; + out_2798583430007914855[36] = 0; + out_2798583430007914855[37] = 0; + out_2798583430007914855[38] = 0; + out_2798583430007914855[39] = 0; + out_2798583430007914855[40] = 0; + out_2798583430007914855[41] = 0; + out_2798583430007914855[42] = 0; + out_2798583430007914855[43] = 0; + out_2798583430007914855[44] = 1; + out_2798583430007914855[45] = 0; + out_2798583430007914855[46] = 0; + out_2798583430007914855[47] = 1; + out_2798583430007914855[48] = 0; + out_2798583430007914855[49] = 0; + out_2798583430007914855[50] = 0; + out_2798583430007914855[51] = 0; + out_2798583430007914855[52] = 0; + out_2798583430007914855[53] = 0; } -void h_10(double *state, double *unused, double *out_3684376753725260505) { - out_3684376753725260505[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3684376753725260505[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3684376753725260505[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_3025597584677695987) { + out_3025597584677695987[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_3025597584677695987[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_3025597584677695987[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_5090252371717073425) { - out_5090252371717073425[0] = 0; - out_5090252371717073425[1] = 9.8100000000000005*cos(state[1]); - out_5090252371717073425[2] = 0; - out_5090252371717073425[3] = 0; - out_5090252371717073425[4] = -state[8]; - out_5090252371717073425[5] = state[7]; - out_5090252371717073425[6] = 0; - out_5090252371717073425[7] = state[5]; - out_5090252371717073425[8] = -state[4]; - out_5090252371717073425[9] = 0; - out_5090252371717073425[10] = 0; - out_5090252371717073425[11] = 0; - out_5090252371717073425[12] = 1; - out_5090252371717073425[13] = 0; - out_5090252371717073425[14] = 0; - out_5090252371717073425[15] = 1; - out_5090252371717073425[16] = 0; - out_5090252371717073425[17] = 0; - out_5090252371717073425[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5090252371717073425[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5090252371717073425[20] = 0; - out_5090252371717073425[21] = state[8]; - out_5090252371717073425[22] = 0; - out_5090252371717073425[23] = -state[6]; - out_5090252371717073425[24] = -state[5]; - out_5090252371717073425[25] = 0; - out_5090252371717073425[26] = state[3]; - out_5090252371717073425[27] = 0; - out_5090252371717073425[28] = 0; - out_5090252371717073425[29] = 0; - out_5090252371717073425[30] = 0; - out_5090252371717073425[31] = 1; - out_5090252371717073425[32] = 0; - out_5090252371717073425[33] = 0; - out_5090252371717073425[34] = 1; - out_5090252371717073425[35] = 0; - out_5090252371717073425[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5090252371717073425[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5090252371717073425[38] = 0; - out_5090252371717073425[39] = -state[7]; - out_5090252371717073425[40] = state[6]; - out_5090252371717073425[41] = 0; - out_5090252371717073425[42] = state[4]; - out_5090252371717073425[43] = -state[3]; - out_5090252371717073425[44] = 0; - out_5090252371717073425[45] = 0; - out_5090252371717073425[46] = 0; - out_5090252371717073425[47] = 0; - out_5090252371717073425[48] = 0; - out_5090252371717073425[49] = 0; - out_5090252371717073425[50] = 1; - out_5090252371717073425[51] = 0; - out_5090252371717073425[52] = 0; - out_5090252371717073425[53] = 1; +void H_10(double *state, double *unused, double *out_1745173860280422879) { + out_1745173860280422879[0] = 0; + out_1745173860280422879[1] = 9.8100000000000005*cos(state[1]); + out_1745173860280422879[2] = 0; + out_1745173860280422879[3] = 0; + out_1745173860280422879[4] = -state[8]; + out_1745173860280422879[5] = state[7]; + out_1745173860280422879[6] = 0; + out_1745173860280422879[7] = state[5]; + out_1745173860280422879[8] = -state[4]; + out_1745173860280422879[9] = 0; + out_1745173860280422879[10] = 0; + out_1745173860280422879[11] = 0; + out_1745173860280422879[12] = 1; + out_1745173860280422879[13] = 0; + out_1745173860280422879[14] = 0; + out_1745173860280422879[15] = 1; + out_1745173860280422879[16] = 0; + out_1745173860280422879[17] = 0; + out_1745173860280422879[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1745173860280422879[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1745173860280422879[20] = 0; + out_1745173860280422879[21] = state[8]; + out_1745173860280422879[22] = 0; + out_1745173860280422879[23] = -state[6]; + out_1745173860280422879[24] = -state[5]; + out_1745173860280422879[25] = 0; + out_1745173860280422879[26] = state[3]; + out_1745173860280422879[27] = 0; + out_1745173860280422879[28] = 0; + out_1745173860280422879[29] = 0; + out_1745173860280422879[30] = 0; + out_1745173860280422879[31] = 1; + out_1745173860280422879[32] = 0; + out_1745173860280422879[33] = 0; + out_1745173860280422879[34] = 1; + out_1745173860280422879[35] = 0; + out_1745173860280422879[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1745173860280422879[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1745173860280422879[38] = 0; + out_1745173860280422879[39] = -state[7]; + out_1745173860280422879[40] = state[6]; + out_1745173860280422879[41] = 0; + out_1745173860280422879[42] = state[4]; + out_1745173860280422879[43] = -state[3]; + out_1745173860280422879[44] = 0; + out_1745173860280422879[45] = 0; + out_1745173860280422879[46] = 0; + out_1745173860280422879[47] = 0; + out_1745173860280422879[48] = 0; + out_1745173860280422879[49] = 0; + out_1745173860280422879[50] = 1; + out_1745173860280422879[51] = 0; + out_1745173860280422879[52] = 0; + out_1745173860280422879[53] = 1; } -void h_13(double *state, double *unused, double *out_5749954067458841209) { - out_5749954067458841209[0] = state[3]; - out_5749954067458841209[1] = state[4]; - out_5749954067458841209[2] = state[5]; +void h_13(double *state, double *unused, double *out_8599707273883010977) { + out_8599707273883010977[0] = state[3]; + out_8599707273883010977[1] = state[4]; + out_8599707273883010977[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4327993510885625935) { - out_4327993510885625935[0] = 0; - out_4327993510885625935[1] = 0; - out_4327993510885625935[2] = 0; - out_4327993510885625935[3] = 1; - out_4327993510885625935[4] = 0; - out_4327993510885625935[5] = 0; - out_4327993510885625935[6] = 0; - out_4327993510885625935[7] = 0; - out_4327993510885625935[8] = 0; - out_4327993510885625935[9] = 0; - out_4327993510885625935[10] = 0; - out_4327993510885625935[11] = 0; - out_4327993510885625935[12] = 0; - out_4327993510885625935[13] = 0; - out_4327993510885625935[14] = 0; - out_4327993510885625935[15] = 0; - out_4327993510885625935[16] = 0; - out_4327993510885625935[17] = 0; - out_4327993510885625935[18] = 0; - out_4327993510885625935[19] = 0; - out_4327993510885625935[20] = 0; - out_4327993510885625935[21] = 0; - out_4327993510885625935[22] = 1; - out_4327993510885625935[23] = 0; - out_4327993510885625935[24] = 0; - out_4327993510885625935[25] = 0; - out_4327993510885625935[26] = 0; - out_4327993510885625935[27] = 0; - out_4327993510885625935[28] = 0; - out_4327993510885625935[29] = 0; - out_4327993510885625935[30] = 0; - out_4327993510885625935[31] = 0; - out_4327993510885625935[32] = 0; - out_4327993510885625935[33] = 0; - out_4327993510885625935[34] = 0; - out_4327993510885625935[35] = 0; - out_4327993510885625935[36] = 0; - out_4327993510885625935[37] = 0; - out_4327993510885625935[38] = 0; - out_4327993510885625935[39] = 0; - out_4327993510885625935[40] = 0; - out_4327993510885625935[41] = 1; - out_4327993510885625935[42] = 0; - out_4327993510885625935[43] = 0; - out_4327993510885625935[44] = 0; - out_4327993510885625935[45] = 0; - out_4327993510885625935[46] = 0; - out_4327993510885625935[47] = 0; - out_4327993510885625935[48] = 0; - out_4327993510885625935[49] = 0; - out_4327993510885625935[50] = 0; - out_4327993510885625935[51] = 0; - out_4327993510885625935[52] = 0; - out_4327993510885625935[53] = 0; +void H_13(double *state, double *unused, double *out_8037529435384935832) { + out_8037529435384935832[0] = 0; + out_8037529435384935832[1] = 0; + out_8037529435384935832[2] = 0; + out_8037529435384935832[3] = 1; + out_8037529435384935832[4] = 0; + out_8037529435384935832[5] = 0; + out_8037529435384935832[6] = 0; + out_8037529435384935832[7] = 0; + out_8037529435384935832[8] = 0; + out_8037529435384935832[9] = 0; + out_8037529435384935832[10] = 0; + out_8037529435384935832[11] = 0; + out_8037529435384935832[12] = 0; + out_8037529435384935832[13] = 0; + out_8037529435384935832[14] = 0; + out_8037529435384935832[15] = 0; + out_8037529435384935832[16] = 0; + out_8037529435384935832[17] = 0; + out_8037529435384935832[18] = 0; + out_8037529435384935832[19] = 0; + out_8037529435384935832[20] = 0; + out_8037529435384935832[21] = 0; + out_8037529435384935832[22] = 1; + out_8037529435384935832[23] = 0; + out_8037529435384935832[24] = 0; + out_8037529435384935832[25] = 0; + out_8037529435384935832[26] = 0; + out_8037529435384935832[27] = 0; + out_8037529435384935832[28] = 0; + out_8037529435384935832[29] = 0; + out_8037529435384935832[30] = 0; + out_8037529435384935832[31] = 0; + out_8037529435384935832[32] = 0; + out_8037529435384935832[33] = 0; + out_8037529435384935832[34] = 0; + out_8037529435384935832[35] = 0; + out_8037529435384935832[36] = 0; + out_8037529435384935832[37] = 0; + out_8037529435384935832[38] = 0; + out_8037529435384935832[39] = 0; + out_8037529435384935832[40] = 0; + out_8037529435384935832[41] = 1; + out_8037529435384935832[42] = 0; + out_8037529435384935832[43] = 0; + out_8037529435384935832[44] = 0; + out_8037529435384935832[45] = 0; + out_8037529435384935832[46] = 0; + out_8037529435384935832[47] = 0; + out_8037529435384935832[48] = 0; + out_8037529435384935832[49] = 0; + out_8037529435384935832[50] = 0; + out_8037529435384935832[51] = 0; + out_8037529435384935832[52] = 0; + out_8037529435384935832[53] = 0; } -void h_14(double *state, double *unused, double *out_9151671114827748167) { - out_9151671114827748167[0] = state[6]; - out_9151671114827748167[1] = state[7]; - out_9151671114827748167[2] = state[8]; +void h_14(double *state, double *unused, double *out_3899158584107184147) { + out_3899158584107184147[0] = state[6]; + out_3899158584107184147[1] = state[7]; + out_3899158584107184147[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3577026479878474207) { - out_3577026479878474207[0] = 0; - out_3577026479878474207[1] = 0; - out_3577026479878474207[2] = 0; - out_3577026479878474207[3] = 0; - out_3577026479878474207[4] = 0; - out_3577026479878474207[5] = 0; - out_3577026479878474207[6] = 1; - out_3577026479878474207[7] = 0; - out_3577026479878474207[8] = 0; - out_3577026479878474207[9] = 0; - out_3577026479878474207[10] = 0; - out_3577026479878474207[11] = 0; - out_3577026479878474207[12] = 0; - out_3577026479878474207[13] = 0; - out_3577026479878474207[14] = 0; - out_3577026479878474207[15] = 0; - out_3577026479878474207[16] = 0; - out_3577026479878474207[17] = 0; - out_3577026479878474207[18] = 0; - out_3577026479878474207[19] = 0; - out_3577026479878474207[20] = 0; - out_3577026479878474207[21] = 0; - out_3577026479878474207[22] = 0; - out_3577026479878474207[23] = 0; - out_3577026479878474207[24] = 0; - out_3577026479878474207[25] = 1; - out_3577026479878474207[26] = 0; - out_3577026479878474207[27] = 0; - out_3577026479878474207[28] = 0; - out_3577026479878474207[29] = 0; - out_3577026479878474207[30] = 0; - out_3577026479878474207[31] = 0; - out_3577026479878474207[32] = 0; - out_3577026479878474207[33] = 0; - out_3577026479878474207[34] = 0; - out_3577026479878474207[35] = 0; - out_3577026479878474207[36] = 0; - out_3577026479878474207[37] = 0; - out_3577026479878474207[38] = 0; - out_3577026479878474207[39] = 0; - out_3577026479878474207[40] = 0; - out_3577026479878474207[41] = 0; - out_3577026479878474207[42] = 0; - out_3577026479878474207[43] = 0; - out_3577026479878474207[44] = 1; - out_3577026479878474207[45] = 0; - out_3577026479878474207[46] = 0; - out_3577026479878474207[47] = 0; - out_3577026479878474207[48] = 0; - out_3577026479878474207[49] = 0; - out_3577026479878474207[50] = 0; - out_3577026479878474207[51] = 0; - out_3577026479878474207[52] = 0; - out_3577026479878474207[53] = 0; +void H_14(double *state, double *unused, double *out_6761824286347399384) { + out_6761824286347399384[0] = 0; + out_6761824286347399384[1] = 0; + out_6761824286347399384[2] = 0; + out_6761824286347399384[3] = 0; + out_6761824286347399384[4] = 0; + out_6761824286347399384[5] = 0; + out_6761824286347399384[6] = 1; + out_6761824286347399384[7] = 0; + out_6761824286347399384[8] = 0; + out_6761824286347399384[9] = 0; + out_6761824286347399384[10] = 0; + out_6761824286347399384[11] = 0; + out_6761824286347399384[12] = 0; + out_6761824286347399384[13] = 0; + out_6761824286347399384[14] = 0; + out_6761824286347399384[15] = 0; + out_6761824286347399384[16] = 0; + out_6761824286347399384[17] = 0; + out_6761824286347399384[18] = 0; + out_6761824286347399384[19] = 0; + out_6761824286347399384[20] = 0; + out_6761824286347399384[21] = 0; + out_6761824286347399384[22] = 0; + out_6761824286347399384[23] = 0; + out_6761824286347399384[24] = 0; + out_6761824286347399384[25] = 1; + out_6761824286347399384[26] = 0; + out_6761824286347399384[27] = 0; + out_6761824286347399384[28] = 0; + out_6761824286347399384[29] = 0; + out_6761824286347399384[30] = 0; + out_6761824286347399384[31] = 0; + out_6761824286347399384[32] = 0; + out_6761824286347399384[33] = 0; + out_6761824286347399384[34] = 0; + out_6761824286347399384[35] = 0; + out_6761824286347399384[36] = 0; + out_6761824286347399384[37] = 0; + out_6761824286347399384[38] = 0; + out_6761824286347399384[39] = 0; + out_6761824286347399384[40] = 0; + out_6761824286347399384[41] = 0; + out_6761824286347399384[42] = 0; + out_6761824286347399384[43] = 0; + out_6761824286347399384[44] = 1; + out_6761824286347399384[45] = 0; + out_6761824286347399384[46] = 0; + out_6761824286347399384[47] = 0; + out_6761824286347399384[48] = 0; + out_6761824286347399384[49] = 0; + out_6761824286347399384[50] = 0; + out_6761824286347399384[51] = 0; + out_6761824286347399384[52] = 0; + out_6761824286347399384[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_3926294361318359623) { - err_fun(nom_x, delta_x, out_3926294361318359623); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6464539647254934838) { + err_fun(nom_x, delta_x, out_6464539647254934838); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5231104082209692226) { - inv_err_fun(nom_x, true_x, out_5231104082209692226); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6486962015996802201) { + inv_err_fun(nom_x, true_x, out_6486962015996802201); } -void pose_H_mod_fun(double *state, double *out_5646756432622182646) { - H_mod_fun(state, out_5646756432622182646); +void pose_H_mod_fun(double *state, double *out_6072805508798864108) { + H_mod_fun(state, out_6072805508798864108); } -void pose_f_fun(double *state, double dt, double *out_1137320570887410122) { - f_fun(state, dt, out_1137320570887410122); +void pose_f_fun(double *state, double dt, double *out_5954902381465487783) { + f_fun(state, dt, out_5954902381465487783); } -void pose_F_fun(double *state, double dt, double *out_2697011094328554799) { - F_fun(state, dt, out_2697011094328554799); +void pose_F_fun(double *state, double dt, double *out_3606916503598787696) { + F_fun(state, dt, out_3606916503598787696); } -void pose_h_4(double *state, double *unused, double *out_1053451418042427012) { - h_4(state, unused, out_1053451418042427012); +void pose_h_4(double *state, double *unused, double *out_5987237266806342619) { + h_4(state, unused, out_5987237266806342619); } -void pose_H_4(double *state, double *unused, double *out_7540267336217958736) { - H_4(state, unused, out_7540267336217958736); +void pose_H_4(double *state, double *unused, double *out_2798583430007914855) { + H_4(state, unused, out_2798583430007914855); } -void pose_h_10(double *state, double *unused, double *out_3684376753725260505) { - h_10(state, unused, out_3684376753725260505); +void pose_h_10(double *state, double *unused, double *out_3025597584677695987) { + h_10(state, unused, out_3025597584677695987); } -void pose_H_10(double *state, double *unused, double *out_5090252371717073425) { - H_10(state, unused, out_5090252371717073425); +void pose_H_10(double *state, double *unused, double *out_1745173860280422879) { + H_10(state, unused, out_1745173860280422879); } -void pose_h_13(double *state, double *unused, double *out_5749954067458841209) { - h_13(state, unused, out_5749954067458841209); +void pose_h_13(double *state, double *unused, double *out_8599707273883010977) { + h_13(state, unused, out_8599707273883010977); } -void pose_H_13(double *state, double *unused, double *out_4327993510885625935) { - H_13(state, unused, out_4327993510885625935); +void pose_H_13(double *state, double *unused, double *out_8037529435384935832) { + H_13(state, unused, out_8037529435384935832); } -void pose_h_14(double *state, double *unused, double *out_9151671114827748167) { - h_14(state, unused, out_9151671114827748167); +void pose_h_14(double *state, double *unused, double *out_3899158584107184147) { + h_14(state, unused, out_3899158584107184147); } -void pose_H_14(double *state, double *unused, double *out_3577026479878474207) { - H_14(state, unused, out_3577026479878474207); +void pose_H_14(double *state, double *unused, double *out_6761824286347399384) { + H_14(state, unused, out_6761824286347399384); } 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 f64f55a08..54db9b57e 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_3926294361318359623); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5231104082209692226); -void pose_H_mod_fun(double *state, double *out_5646756432622182646); -void pose_f_fun(double *state, double dt, double *out_1137320570887410122); -void pose_F_fun(double *state, double dt, double *out_2697011094328554799); -void pose_h_4(double *state, double *unused, double *out_1053451418042427012); -void pose_H_4(double *state, double *unused, double *out_7540267336217958736); -void pose_h_10(double *state, double *unused, double *out_3684376753725260505); -void pose_H_10(double *state, double *unused, double *out_5090252371717073425); -void pose_h_13(double *state, double *unused, double *out_5749954067458841209); -void pose_H_13(double *state, double *unused, double *out_4327993510885625935); -void pose_h_14(double *state, double *unused, double *out_9151671114827748167); -void pose_H_14(double *state, double *unused, double *out_3577026479878474207); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6464539647254934838); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6486962015996802201); +void pose_H_mod_fun(double *state, double *out_6072805508798864108); +void pose_f_fun(double *state, double dt, double *out_5954902381465487783); +void pose_F_fun(double *state, double dt, double *out_3606916503598787696); +void pose_h_4(double *state, double *unused, double *out_5987237266806342619); +void pose_H_4(double *state, double *unused, double *out_2798583430007914855); +void pose_h_10(double *state, double *unused, double *out_3025597584677695987); +void pose_H_10(double *state, double *unused, double *out_1745173860280422879); +void pose_h_13(double *state, double *unused, double *out_8599707273883010977); +void pose_H_13(double *state, double *unused, double *out_8037529435384935832); +void pose_h_14(double *state, double *unused, double *out_3899158584107184147); +void pose_H_14(double *state, double *unused, double *out_6761824286347399384); 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 a91796473..5259896ea 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index f461c65e4..3ee94a156 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 40dbb3942..ddb077fca 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 679dec91e..25dd9046d 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index fa20c54e4..e7c371fef 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ