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b/panda/board/obj/version @@ -1 +1 @@ -DEV-9d2149d4-DEBUG \ No newline at end of file +DEV-23b354d4-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 824373f44..2b6cf7801 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_5572165619661696722) { - out_5572165619661696722[0] = delta_x[0] + nom_x[0]; - out_5572165619661696722[1] = delta_x[1] + nom_x[1]; - out_5572165619661696722[2] = delta_x[2] + nom_x[2]; - out_5572165619661696722[3] = delta_x[3] + nom_x[3]; - out_5572165619661696722[4] = delta_x[4] + nom_x[4]; - out_5572165619661696722[5] = delta_x[5] + nom_x[5]; - out_5572165619661696722[6] = delta_x[6] + nom_x[6]; - out_5572165619661696722[7] = delta_x[7] + nom_x[7]; - out_5572165619661696722[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_92735882134146519) { + out_92735882134146519[0] = delta_x[0] + nom_x[0]; + out_92735882134146519[1] = delta_x[1] + nom_x[1]; + out_92735882134146519[2] = delta_x[2] + nom_x[2]; + out_92735882134146519[3] = delta_x[3] + nom_x[3]; + out_92735882134146519[4] = delta_x[4] + nom_x[4]; + out_92735882134146519[5] = delta_x[5] + nom_x[5]; + out_92735882134146519[6] = delta_x[6] + nom_x[6]; + out_92735882134146519[7] = delta_x[7] + nom_x[7]; + out_92735882134146519[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1924778118840772208) { - out_1924778118840772208[0] = -nom_x[0] + true_x[0]; - out_1924778118840772208[1] = -nom_x[1] + true_x[1]; - out_1924778118840772208[2] = -nom_x[2] + true_x[2]; - out_1924778118840772208[3] = -nom_x[3] + true_x[3]; - out_1924778118840772208[4] = -nom_x[4] + true_x[4]; - out_1924778118840772208[5] = -nom_x[5] + true_x[5]; - out_1924778118840772208[6] = -nom_x[6] + true_x[6]; - out_1924778118840772208[7] = -nom_x[7] + true_x[7]; - out_1924778118840772208[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787) { + out_3460935513230882787[0] = -nom_x[0] + true_x[0]; + out_3460935513230882787[1] = -nom_x[1] + true_x[1]; + out_3460935513230882787[2] = -nom_x[2] + true_x[2]; + out_3460935513230882787[3] = -nom_x[3] + true_x[3]; + out_3460935513230882787[4] = -nom_x[4] + true_x[4]; + out_3460935513230882787[5] = -nom_x[5] + true_x[5]; + out_3460935513230882787[6] = -nom_x[6] + true_x[6]; + out_3460935513230882787[7] = -nom_x[7] + true_x[7]; + out_3460935513230882787[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5209558866032184805) { - out_5209558866032184805[0] = 1.0; - out_5209558866032184805[1] = 0.0; - out_5209558866032184805[2] = 0.0; - out_5209558866032184805[3] = 0.0; - out_5209558866032184805[4] = 0.0; - out_5209558866032184805[5] = 0.0; - out_5209558866032184805[6] = 0.0; - out_5209558866032184805[7] = 0.0; - out_5209558866032184805[8] = 0.0; - out_5209558866032184805[9] = 0.0; - out_5209558866032184805[10] = 1.0; - out_5209558866032184805[11] = 0.0; - out_5209558866032184805[12] = 0.0; - out_5209558866032184805[13] = 0.0; - out_5209558866032184805[14] = 0.0; - out_5209558866032184805[15] = 0.0; - out_5209558866032184805[16] = 0.0; - out_5209558866032184805[17] = 0.0; - out_5209558866032184805[18] = 0.0; - out_5209558866032184805[19] = 0.0; - out_5209558866032184805[20] = 1.0; - out_5209558866032184805[21] = 0.0; - out_5209558866032184805[22] = 0.0; - out_5209558866032184805[23] = 0.0; - out_5209558866032184805[24] = 0.0; - out_5209558866032184805[25] = 0.0; - out_5209558866032184805[26] = 0.0; - out_5209558866032184805[27] = 0.0; - out_5209558866032184805[28] = 0.0; - out_5209558866032184805[29] = 0.0; - out_5209558866032184805[30] = 1.0; - out_5209558866032184805[31] = 0.0; - out_5209558866032184805[32] = 0.0; - out_5209558866032184805[33] = 0.0; - out_5209558866032184805[34] = 0.0; - out_5209558866032184805[35] = 0.0; - out_5209558866032184805[36] = 0.0; - out_5209558866032184805[37] = 0.0; - out_5209558866032184805[38] = 0.0; - out_5209558866032184805[39] = 0.0; - out_5209558866032184805[40] = 1.0; - out_5209558866032184805[41] = 0.0; - out_5209558866032184805[42] = 0.0; - out_5209558866032184805[43] = 0.0; - out_5209558866032184805[44] = 0.0; - out_5209558866032184805[45] = 0.0; - out_5209558866032184805[46] = 0.0; - out_5209558866032184805[47] = 0.0; - out_5209558866032184805[48] = 0.0; - out_5209558866032184805[49] = 0.0; - out_5209558866032184805[50] = 1.0; - out_5209558866032184805[51] = 0.0; - out_5209558866032184805[52] = 0.0; - out_5209558866032184805[53] = 0.0; - out_5209558866032184805[54] = 0.0; - out_5209558866032184805[55] = 0.0; - out_5209558866032184805[56] = 0.0; - out_5209558866032184805[57] = 0.0; - out_5209558866032184805[58] = 0.0; - out_5209558866032184805[59] = 0.0; - out_5209558866032184805[60] = 1.0; - out_5209558866032184805[61] = 0.0; - out_5209558866032184805[62] = 0.0; - out_5209558866032184805[63] = 0.0; - out_5209558866032184805[64] = 0.0; - out_5209558866032184805[65] = 0.0; - out_5209558866032184805[66] = 0.0; - out_5209558866032184805[67] = 0.0; - out_5209558866032184805[68] = 0.0; - out_5209558866032184805[69] = 0.0; - out_5209558866032184805[70] = 1.0; - out_5209558866032184805[71] = 0.0; - out_5209558866032184805[72] = 0.0; - out_5209558866032184805[73] = 0.0; - out_5209558866032184805[74] = 0.0; - out_5209558866032184805[75] = 0.0; - out_5209558866032184805[76] = 0.0; - out_5209558866032184805[77] = 0.0; - out_5209558866032184805[78] = 0.0; - out_5209558866032184805[79] = 0.0; - out_5209558866032184805[80] = 1.0; +void H_mod_fun(double *state, double *out_1422739628250006049) { + out_1422739628250006049[0] = 1.0; + out_1422739628250006049[1] = 0.0; + out_1422739628250006049[2] = 0.0; + out_1422739628250006049[3] = 0.0; + out_1422739628250006049[4] = 0.0; + out_1422739628250006049[5] = 0.0; + out_1422739628250006049[6] = 0.0; + out_1422739628250006049[7] = 0.0; + out_1422739628250006049[8] = 0.0; + out_1422739628250006049[9] = 0.0; + out_1422739628250006049[10] = 1.0; + out_1422739628250006049[11] = 0.0; + out_1422739628250006049[12] = 0.0; + out_1422739628250006049[13] = 0.0; + out_1422739628250006049[14] = 0.0; + out_1422739628250006049[15] = 0.0; + out_1422739628250006049[16] = 0.0; + out_1422739628250006049[17] = 0.0; + out_1422739628250006049[18] = 0.0; + out_1422739628250006049[19] = 0.0; + out_1422739628250006049[20] = 1.0; + out_1422739628250006049[21] = 0.0; + out_1422739628250006049[22] = 0.0; + out_1422739628250006049[23] = 0.0; + out_1422739628250006049[24] = 0.0; + out_1422739628250006049[25] = 0.0; + out_1422739628250006049[26] = 0.0; + out_1422739628250006049[27] = 0.0; + out_1422739628250006049[28] = 0.0; + out_1422739628250006049[29] = 0.0; + out_1422739628250006049[30] = 1.0; + out_1422739628250006049[31] = 0.0; + out_1422739628250006049[32] = 0.0; + out_1422739628250006049[33] = 0.0; + out_1422739628250006049[34] = 0.0; + out_1422739628250006049[35] = 0.0; + out_1422739628250006049[36] = 0.0; + out_1422739628250006049[37] = 0.0; + out_1422739628250006049[38] = 0.0; + out_1422739628250006049[39] = 0.0; + out_1422739628250006049[40] = 1.0; + out_1422739628250006049[41] = 0.0; + out_1422739628250006049[42] = 0.0; + out_1422739628250006049[43] = 0.0; + out_1422739628250006049[44] = 0.0; + out_1422739628250006049[45] = 0.0; + out_1422739628250006049[46] = 0.0; + out_1422739628250006049[47] = 0.0; + out_1422739628250006049[48] = 0.0; + out_1422739628250006049[49] = 0.0; + out_1422739628250006049[50] = 1.0; + out_1422739628250006049[51] = 0.0; + out_1422739628250006049[52] = 0.0; + out_1422739628250006049[53] = 0.0; + out_1422739628250006049[54] = 0.0; + out_1422739628250006049[55] = 0.0; + out_1422739628250006049[56] = 0.0; + out_1422739628250006049[57] = 0.0; + out_1422739628250006049[58] = 0.0; + out_1422739628250006049[59] = 0.0; + out_1422739628250006049[60] = 1.0; + out_1422739628250006049[61] = 0.0; + out_1422739628250006049[62] = 0.0; + out_1422739628250006049[63] = 0.0; + out_1422739628250006049[64] = 0.0; + out_1422739628250006049[65] = 0.0; + out_1422739628250006049[66] = 0.0; + out_1422739628250006049[67] = 0.0; + out_1422739628250006049[68] = 0.0; + out_1422739628250006049[69] = 0.0; + out_1422739628250006049[70] = 1.0; + out_1422739628250006049[71] = 0.0; + out_1422739628250006049[72] = 0.0; + out_1422739628250006049[73] = 0.0; + out_1422739628250006049[74] = 0.0; + out_1422739628250006049[75] = 0.0; + out_1422739628250006049[76] = 0.0; + out_1422739628250006049[77] = 0.0; + out_1422739628250006049[78] = 0.0; + out_1422739628250006049[79] = 0.0; + out_1422739628250006049[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8731244167447695934) { - out_8731244167447695934[0] = state[0]; - out_8731244167447695934[1] = state[1]; - out_8731244167447695934[2] = state[2]; - out_8731244167447695934[3] = state[3]; - out_8731244167447695934[4] = state[4]; - out_8731244167447695934[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_8731244167447695934[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_8731244167447695934[7] = state[7]; - out_8731244167447695934[8] = state[8]; +void f_fun(double *state, double dt, double *out_1170289062789918948) { + out_1170289062789918948[0] = state[0]; + out_1170289062789918948[1] = state[1]; + out_1170289062789918948[2] = state[2]; + out_1170289062789918948[3] = state[3]; + out_1170289062789918948[4] = state[4]; + out_1170289062789918948[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_1170289062789918948[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_1170289062789918948[7] = state[7]; + out_1170289062789918948[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5438267541501267753) { - out_5438267541501267753[0] = 1; - out_5438267541501267753[1] = 0; - out_5438267541501267753[2] = 0; - out_5438267541501267753[3] = 0; - out_5438267541501267753[4] = 0; - out_5438267541501267753[5] = 0; - out_5438267541501267753[6] = 0; - out_5438267541501267753[7] = 0; - out_5438267541501267753[8] = 0; - out_5438267541501267753[9] = 0; - out_5438267541501267753[10] = 1; - out_5438267541501267753[11] = 0; - out_5438267541501267753[12] = 0; - out_5438267541501267753[13] = 0; - out_5438267541501267753[14] = 0; - out_5438267541501267753[15] = 0; - out_5438267541501267753[16] = 0; - out_5438267541501267753[17] = 0; - out_5438267541501267753[18] = 0; - out_5438267541501267753[19] = 0; - out_5438267541501267753[20] = 1; - out_5438267541501267753[21] = 0; - out_5438267541501267753[22] = 0; - out_5438267541501267753[23] = 0; - out_5438267541501267753[24] = 0; - out_5438267541501267753[25] = 0; - out_5438267541501267753[26] = 0; - out_5438267541501267753[27] = 0; - out_5438267541501267753[28] = 0; - out_5438267541501267753[29] = 0; - out_5438267541501267753[30] = 1; - out_5438267541501267753[31] = 0; - out_5438267541501267753[32] = 0; - out_5438267541501267753[33] = 0; - out_5438267541501267753[34] = 0; - out_5438267541501267753[35] = 0; - out_5438267541501267753[36] = 0; - out_5438267541501267753[37] = 0; - out_5438267541501267753[38] = 0; - out_5438267541501267753[39] = 0; - out_5438267541501267753[40] = 1; - out_5438267541501267753[41] = 0; - out_5438267541501267753[42] = 0; - out_5438267541501267753[43] = 0; - out_5438267541501267753[44] = 0; - out_5438267541501267753[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_5438267541501267753[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5438267541501267753[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5438267541501267753[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5438267541501267753[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_5438267541501267753[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5438267541501267753[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5438267541501267753[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5438267541501267753[53] = -9.8100000000000005*dt; - out_5438267541501267753[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_5438267541501267753[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5438267541501267753[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5438267541501267753[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5438267541501267753[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_5438267541501267753[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5438267541501267753[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_5438267541501267753[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5438267541501267753[62] = 0; - out_5438267541501267753[63] = 0; - out_5438267541501267753[64] = 0; - out_5438267541501267753[65] = 0; - out_5438267541501267753[66] = 0; - out_5438267541501267753[67] = 0; - out_5438267541501267753[68] = 0; - out_5438267541501267753[69] = 0; - out_5438267541501267753[70] = 1; - out_5438267541501267753[71] = 0; - out_5438267541501267753[72] = 0; - out_5438267541501267753[73] = 0; - out_5438267541501267753[74] = 0; - out_5438267541501267753[75] = 0; - out_5438267541501267753[76] = 0; - out_5438267541501267753[77] = 0; - out_5438267541501267753[78] = 0; - out_5438267541501267753[79] = 0; - out_5438267541501267753[80] = 1; +void F_fun(double *state, double dt, double *out_3493049086978441612) { + out_3493049086978441612[0] = 1; + out_3493049086978441612[1] = 0; + out_3493049086978441612[2] = 0; + out_3493049086978441612[3] = 0; + out_3493049086978441612[4] = 0; + out_3493049086978441612[5] = 0; + out_3493049086978441612[6] = 0; + out_3493049086978441612[7] = 0; + out_3493049086978441612[8] = 0; + out_3493049086978441612[9] = 0; + out_3493049086978441612[10] = 1; + out_3493049086978441612[11] = 0; + out_3493049086978441612[12] = 0; + out_3493049086978441612[13] = 0; + out_3493049086978441612[14] = 0; + out_3493049086978441612[15] = 0; + out_3493049086978441612[16] = 0; + out_3493049086978441612[17] = 0; + out_3493049086978441612[18] = 0; + out_3493049086978441612[19] = 0; + out_3493049086978441612[20] = 1; + out_3493049086978441612[21] = 0; + out_3493049086978441612[22] = 0; + out_3493049086978441612[23] = 0; + out_3493049086978441612[24] = 0; + out_3493049086978441612[25] = 0; + out_3493049086978441612[26] = 0; + out_3493049086978441612[27] = 0; + out_3493049086978441612[28] = 0; + out_3493049086978441612[29] = 0; + out_3493049086978441612[30] = 1; + out_3493049086978441612[31] = 0; + out_3493049086978441612[32] = 0; + out_3493049086978441612[33] = 0; + out_3493049086978441612[34] = 0; + out_3493049086978441612[35] = 0; + out_3493049086978441612[36] = 0; + out_3493049086978441612[37] = 0; + out_3493049086978441612[38] = 0; + out_3493049086978441612[39] = 0; + out_3493049086978441612[40] = 1; + out_3493049086978441612[41] = 0; + out_3493049086978441612[42] = 0; + out_3493049086978441612[43] = 0; + out_3493049086978441612[44] = 0; + out_3493049086978441612[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_3493049086978441612[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_3493049086978441612[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3493049086978441612[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_3493049086978441612[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_3493049086978441612[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_3493049086978441612[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_3493049086978441612[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_3493049086978441612[53] = -9.8100000000000005*dt; + out_3493049086978441612[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_3493049086978441612[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_3493049086978441612[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3493049086978441612[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3493049086978441612[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_3493049086978441612[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_3493049086978441612[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_3493049086978441612[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_3493049086978441612[62] = 0; + out_3493049086978441612[63] = 0; + out_3493049086978441612[64] = 0; + out_3493049086978441612[65] = 0; + out_3493049086978441612[66] = 0; + out_3493049086978441612[67] = 0; + out_3493049086978441612[68] = 0; + out_3493049086978441612[69] = 0; + out_3493049086978441612[70] = 1; + out_3493049086978441612[71] = 0; + out_3493049086978441612[72] = 0; + out_3493049086978441612[73] = 0; + out_3493049086978441612[74] = 0; + out_3493049086978441612[75] = 0; + out_3493049086978441612[76] = 0; + out_3493049086978441612[77] = 0; + out_3493049086978441612[78] = 0; + out_3493049086978441612[79] = 0; + out_3493049086978441612[80] = 1; } -void h_25(double *state, double *unused, double *out_4244982229226314297) { - out_4244982229226314297[0] = state[6]; +void h_25(double *state, double *unused, double *out_7013925099015375635) { + out_7013925099015375635[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1686578216042693128) { - out_1686578216042693128[0] = 0; - out_1686578216042693128[1] = 0; - out_1686578216042693128[2] = 0; - out_1686578216042693128[3] = 0; - out_1686578216042693128[4] = 0; - out_1686578216042693128[5] = 0; - out_1686578216042693128[6] = 1; - out_1686578216042693128[7] = 0; - out_1686578216042693128[8] = 0; +void H_25(double *state, double *unused, double *out_4945720278239497726) { + out_4945720278239497726[0] = 0; + out_4945720278239497726[1] = 0; + out_4945720278239497726[2] = 0; + out_4945720278239497726[3] = 0; + out_4945720278239497726[4] = 0; + out_4945720278239497726[5] = 0; + out_4945720278239497726[6] = 1; + out_4945720278239497726[7] = 0; + out_4945720278239497726[8] = 0; } -void h_24(double *state, double *unused, double *out_197553727547805858) { - out_197553727547805858[0] = state[4]; - out_197553727547805858[1] = state[5]; +void h_24(double *state, double *unused, double *out_1176701170289761958) { + out_1176701170289761958[0] = state[4]; + out_1176701170289761958[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6506899720698681391) { - out_6506899720698681391[0] = 0; - out_6506899720698681391[1] = 0; - out_6506899720698681391[2] = 0; - out_6506899720698681391[3] = 0; - out_6506899720698681391[4] = 1; - out_6506899720698681391[5] = 0; - out_6506899720698681391[6] = 0; - out_6506899720698681391[7] = 0; - out_6506899720698681391[8] = 0; - out_6506899720698681391[9] = 0; - out_6506899720698681391[10] = 0; - out_6506899720698681391[11] = 0; - out_6506899720698681391[12] = 0; - out_6506899720698681391[13] = 0; - out_6506899720698681391[14] = 1; - out_6506899720698681391[15] = 0; - out_6506899720698681391[16] = 0; - out_6506899720698681391[17] = 0; +void H_24(double *state, double *unused, double *out_199210951272988692) { + out_199210951272988692[0] = 0; + out_199210951272988692[1] = 0; + out_199210951272988692[2] = 0; + out_199210951272988692[3] = 0; + out_199210951272988692[4] = 1; + out_199210951272988692[5] = 0; + out_199210951272988692[6] = 0; + out_199210951272988692[7] = 0; + out_199210951272988692[8] = 0; + out_199210951272988692[9] = 0; + out_199210951272988692[10] = 0; + out_199210951272988692[11] = 0; + out_199210951272988692[12] = 0; + out_199210951272988692[13] = 0; + out_199210951272988692[14] = 1; + out_199210951272988692[15] = 0; + out_199210951272988692[16] = 0; + out_199210951272988692[17] = 0; } -void h_30(double *state, double *unused, double *out_4099462405005659326) { - out_4099462405005659326[0] = state[4]; +void h_30(double *state, double *unused, double *out_3376475570761353285) { + out_3376475570761353285[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1815917163185933198) { - out_1815917163185933198[0] = 0; - out_1815917163185933198[1] = 0; - out_1815917163185933198[2] = 0; - out_1815917163185933198[3] = 0; - out_1815917163185933198[4] = 1; - out_1815917163185933198[5] = 0; - out_1815917163185933198[6] = 0; - out_1815917163185933198[7] = 0; - out_1815917163185933198[8] = 0; +void H_30(double *state, double *unused, double *out_6584333453978437135) { + out_6584333453978437135[0] = 0; + out_6584333453978437135[1] = 0; + out_6584333453978437135[2] = 0; + out_6584333453978437135[3] = 0; + out_6584333453978437135[4] = 1; + out_6584333453978437135[5] = 0; + out_6584333453978437135[6] = 0; + out_6584333453978437135[7] = 0; + out_6584333453978437135[8] = 0; } -void h_26(double *state, double *unused, double *out_9101135672666504971) { - out_9101135672666504971[0] = state[7]; +void h_26(double *state, double *unused, double *out_6352431583079506005) { + out_6352431583079506005[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5428081534916749352) { - out_5428081534916749352[0] = 0; - out_5428081534916749352[1] = 0; - out_5428081534916749352[2] = 0; - out_5428081534916749352[3] = 0; - out_5428081534916749352[4] = 0; - out_5428081534916749352[5] = 0; - out_5428081534916749352[6] = 0; - out_5428081534916749352[7] = 1; - out_5428081534916749352[8] = 0; +void H_26(double *state, double *unused, double *out_1204216959365441502) { + out_1204216959365441502[0] = 0; + out_1204216959365441502[1] = 0; + out_1204216959365441502[2] = 0; + out_1204216959365441502[3] = 0; + out_1204216959365441502[4] = 0; + out_1204216959365441502[5] = 0; + out_1204216959365441502[6] = 0; + out_1204216959365441502[7] = 1; + out_1204216959365441502[8] = 0; } -void h_27(double *state, double *unused, double *out_756691038434531348) { - out_756691038434531348[0] = state[3]; +void h_27(double *state, double *unused, double *out_8181668900091517372) { + out_8181668900091517372[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3990680474986358109) { - out_3990680474986358109[0] = 0; - out_3990680474986358109[1] = 0; - out_3990680474986358109[2] = 0; - out_3990680474986358109[3] = 1; - out_3990680474986358109[4] = 0; - out_3990680474986358109[5] = 0; - out_3990680474986358109[6] = 0; - out_3990680474986358109[7] = 0; - out_3990680474986358109[8] = 0; +void H_27(double *state, double *unused, double *out_8759096765778862046) { + out_8759096765778862046[0] = 0; + out_8759096765778862046[1] = 0; + out_8759096765778862046[2] = 0; + out_8759096765778862046[3] = 1; + out_8759096765778862046[4] = 0; + out_8759096765778862046[5] = 0; + out_8759096765778862046[6] = 0; + out_8759096765778862046[7] = 0; + out_8759096765778862046[8] = 0; } -void h_29(double *state, double *unused, double *out_7739969642829208644) { - out_7739969642829208644[0] = state[1]; +void h_29(double *state, double *unused, double *out_1625197696899492360) { + out_1625197696899492360[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1305685818871541014) { - out_1305685818871541014[0] = 0; - out_1305685818871541014[1] = 1; - out_1305685818871541014[2] = 0; - out_1305685818871541014[3] = 0; - out_1305685818871541014[4] = 0; - out_1305685818871541014[5] = 0; - out_1305685818871541014[6] = 0; - out_1305685818871541014[7] = 0; - out_1305685818871541014[8] = 0; +void H_29(double *state, double *unused, double *out_7974284581061138537) { + out_7974284581061138537[0] = 0; + out_7974284581061138537[1] = 1; + out_7974284581061138537[2] = 0; + out_7974284581061138537[3] = 0; + out_7974284581061138537[4] = 0; + out_7974284581061138537[5] = 0; + out_7974284581061138537[6] = 0; + out_7974284581061138537[7] = 0; + out_7974284581061138537[8] = 0; } -void h_28(double *state, double *unused, double *out_186818814467131087) { - out_186818814467131087[0] = state[0]; +void h_28(double *state, double *unused, double *out_7452523070348180861) { + out_7452523070348180861[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7660301854784111900) { - out_7660301854784111900[0] = 1; - out_7660301854784111900[1] = 0; - out_7660301854784111900[2] = 0; - out_7660301854784111900[3] = 0; - out_7660301854784111900[4] = 0; - out_7660301854784111900[5] = 0; - out_7660301854784111900[6] = 0; - out_7660301854784111900[7] = 0; - out_7660301854784111900[8] = 0; +void H_28(double *state, double *unused, double *out_2891885563991607963) { + out_2891885563991607963[0] = 1; + out_2891885563991607963[1] = 0; + out_2891885563991607963[2] = 0; + out_2891885563991607963[3] = 0; + out_2891885563991607963[4] = 0; + out_2891885563991607963[5] = 0; + out_2891885563991607963[6] = 0; + out_2891885563991607963[7] = 0; + out_2891885563991607963[8] = 0; } -void h_31(double *state, double *unused, double *out_3518283027594358144) { - out_3518283027594358144[0] = state[8]; +void h_31(double *state, double *unused, double *out_5836194589039397969) { + out_5836194589039397969[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1655932254165732700) { - out_1655932254165732700[0] = 0; - out_1655932254165732700[1] = 0; - out_1655932254165732700[2] = 0; - out_1655932254165732700[3] = 0; - out_1655932254165732700[4] = 0; - out_1655932254165732700[5] = 0; - out_1655932254165732700[6] = 0; - out_1655932254165732700[7] = 0; - out_1655932254165732700[8] = 1; +void H_31(double *state, double *unused, double *out_4976366240116458154) { + out_4976366240116458154[0] = 0; + out_4976366240116458154[1] = 0; + out_4976366240116458154[2] = 0; + out_4976366240116458154[3] = 0; + out_4976366240116458154[4] = 0; + out_4976366240116458154[5] = 0; + out_4976366240116458154[6] = 0; + out_4976366240116458154[7] = 0; + out_4976366240116458154[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_5572165619661696722) { - err_fun(nom_x, delta_x, out_5572165619661696722); +void car_err_fun(double *nom_x, double *delta_x, double *out_92735882134146519) { + err_fun(nom_x, delta_x, out_92735882134146519); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1924778118840772208) { - inv_err_fun(nom_x, true_x, out_1924778118840772208); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787) { + inv_err_fun(nom_x, true_x, out_3460935513230882787); } -void car_H_mod_fun(double *state, double *out_5209558866032184805) { - H_mod_fun(state, out_5209558866032184805); +void car_H_mod_fun(double *state, double *out_1422739628250006049) { + H_mod_fun(state, out_1422739628250006049); } -void car_f_fun(double *state, double dt, double *out_8731244167447695934) { - f_fun(state, dt, out_8731244167447695934); +void car_f_fun(double *state, double dt, double *out_1170289062789918948) { + f_fun(state, dt, out_1170289062789918948); } -void car_F_fun(double *state, double dt, double *out_5438267541501267753) { - F_fun(state, dt, out_5438267541501267753); +void car_F_fun(double *state, double dt, double *out_3493049086978441612) { + F_fun(state, dt, out_3493049086978441612); } -void car_h_25(double *state, double *unused, double *out_4244982229226314297) { - h_25(state, unused, out_4244982229226314297); +void car_h_25(double *state, double *unused, double *out_7013925099015375635) { + h_25(state, unused, out_7013925099015375635); } -void car_H_25(double *state, double *unused, double *out_1686578216042693128) { - H_25(state, unused, out_1686578216042693128); +void car_H_25(double *state, double *unused, double *out_4945720278239497726) { + H_25(state, unused, out_4945720278239497726); } -void car_h_24(double *state, double *unused, double *out_197553727547805858) { - h_24(state, unused, out_197553727547805858); +void car_h_24(double *state, double *unused, double *out_1176701170289761958) { + h_24(state, unused, out_1176701170289761958); } -void car_H_24(double *state, double *unused, double *out_6506899720698681391) { - H_24(state, unused, out_6506899720698681391); +void car_H_24(double *state, double *unused, double *out_199210951272988692) { + H_24(state, unused, out_199210951272988692); } -void car_h_30(double *state, double *unused, double *out_4099462405005659326) { - h_30(state, unused, out_4099462405005659326); +void car_h_30(double *state, double *unused, double *out_3376475570761353285) { + h_30(state, unused, out_3376475570761353285); } -void car_H_30(double *state, double *unused, double *out_1815917163185933198) { - H_30(state, unused, out_1815917163185933198); +void car_H_30(double *state, double *unused, double *out_6584333453978437135) { + H_30(state, unused, out_6584333453978437135); } -void car_h_26(double *state, double *unused, double *out_9101135672666504971) { - h_26(state, unused, out_9101135672666504971); +void car_h_26(double *state, double *unused, double *out_6352431583079506005) { + h_26(state, unused, out_6352431583079506005); } -void car_H_26(double *state, double *unused, double *out_5428081534916749352) { - H_26(state, unused, out_5428081534916749352); +void car_H_26(double *state, double *unused, double *out_1204216959365441502) { + H_26(state, unused, out_1204216959365441502); } -void car_h_27(double *state, double *unused, double *out_756691038434531348) { - h_27(state, unused, out_756691038434531348); +void car_h_27(double *state, double *unused, double *out_8181668900091517372) { + h_27(state, unused, out_8181668900091517372); } -void car_H_27(double *state, double *unused, double *out_3990680474986358109) { - H_27(state, unused, out_3990680474986358109); +void car_H_27(double *state, double *unused, double *out_8759096765778862046) { + H_27(state, unused, out_8759096765778862046); } -void car_h_29(double *state, double *unused, double *out_7739969642829208644) { - h_29(state, unused, out_7739969642829208644); +void car_h_29(double *state, double *unused, double *out_1625197696899492360) { + h_29(state, unused, out_1625197696899492360); } -void car_H_29(double *state, double *unused, double *out_1305685818871541014) { - H_29(state, unused, out_1305685818871541014); +void car_H_29(double *state, double *unused, double *out_7974284581061138537) { + H_29(state, unused, out_7974284581061138537); } -void car_h_28(double *state, double *unused, double *out_186818814467131087) { - h_28(state, unused, out_186818814467131087); +void car_h_28(double *state, double *unused, double *out_7452523070348180861) { + h_28(state, unused, out_7452523070348180861); } -void car_H_28(double *state, double *unused, double *out_7660301854784111900) { - H_28(state, unused, out_7660301854784111900); +void car_H_28(double *state, double *unused, double *out_2891885563991607963) { + H_28(state, unused, out_2891885563991607963); } -void car_h_31(double *state, double *unused, double *out_3518283027594358144) { - h_31(state, unused, out_3518283027594358144); +void car_h_31(double *state, double *unused, double *out_5836194589039397969) { + h_31(state, unused, out_5836194589039397969); } -void car_H_31(double *state, double *unused, double *out_1655932254165732700) { - H_31(state, unused, out_1655932254165732700); +void car_H_31(double *state, double *unused, double *out_4976366240116458154) { + H_31(state, unused, out_4976366240116458154); } 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 254c32808..ae5afe037 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_5572165619661696722); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1924778118840772208); -void car_H_mod_fun(double *state, double *out_5209558866032184805); -void car_f_fun(double *state, double dt, double *out_8731244167447695934); -void car_F_fun(double *state, double dt, double *out_5438267541501267753); -void car_h_25(double *state, double *unused, double *out_4244982229226314297); -void car_H_25(double *state, double *unused, double *out_1686578216042693128); -void car_h_24(double *state, double *unused, double *out_197553727547805858); -void car_H_24(double *state, double *unused, double *out_6506899720698681391); -void car_h_30(double *state, double *unused, double *out_4099462405005659326); -void car_H_30(double *state, double *unused, double *out_1815917163185933198); -void car_h_26(double *state, double *unused, double *out_9101135672666504971); -void car_H_26(double *state, double *unused, double *out_5428081534916749352); -void car_h_27(double *state, double *unused, double *out_756691038434531348); -void car_H_27(double *state, double *unused, double *out_3990680474986358109); -void car_h_29(double *state, double *unused, double *out_7739969642829208644); -void car_H_29(double *state, double *unused, double *out_1305685818871541014); -void car_h_28(double *state, double *unused, double *out_186818814467131087); -void car_H_28(double *state, double *unused, double *out_7660301854784111900); -void car_h_31(double *state, double *unused, double *out_3518283027594358144); -void car_H_31(double *state, double *unused, double *out_1655932254165732700); +void car_err_fun(double *nom_x, double *delta_x, double *out_92735882134146519); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787); +void car_H_mod_fun(double *state, double *out_1422739628250006049); +void car_f_fun(double *state, double dt, double *out_1170289062789918948); +void car_F_fun(double *state, double dt, double *out_3493049086978441612); +void car_h_25(double *state, double *unused, double *out_7013925099015375635); +void car_H_25(double *state, double *unused, double *out_4945720278239497726); +void car_h_24(double *state, double *unused, double *out_1176701170289761958); +void car_H_24(double *state, double *unused, double *out_199210951272988692); +void car_h_30(double *state, double *unused, double *out_3376475570761353285); +void car_H_30(double *state, double *unused, double *out_6584333453978437135); +void car_h_26(double *state, double *unused, double *out_6352431583079506005); +void car_H_26(double *state, double *unused, double *out_1204216959365441502); +void car_h_27(double *state, double *unused, double *out_8181668900091517372); +void car_H_27(double *state, double *unused, double *out_8759096765778862046); +void car_h_29(double *state, double *unused, double *out_1625197696899492360); +void car_H_29(double *state, double *unused, double *out_7974284581061138537); +void car_h_28(double *state, double *unused, double *out_7452523070348180861); +void car_H_28(double *state, double *unused, double *out_2891885563991607963); +void car_h_31(double *state, double *unused, double *out_5836194589039397969); +void car_H_31(double *state, double *unused, double *out_4976366240116458154); 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 cb24e4f0c..ef90c8ee3 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_7636423458425794019) { - out_7636423458425794019[0] = delta_x[0] + nom_x[0]; - out_7636423458425794019[1] = delta_x[1] + nom_x[1]; - out_7636423458425794019[2] = delta_x[2] + nom_x[2]; - out_7636423458425794019[3] = delta_x[3] + nom_x[3]; - out_7636423458425794019[4] = delta_x[4] + nom_x[4]; - out_7636423458425794019[5] = delta_x[5] + nom_x[5]; - out_7636423458425794019[6] = delta_x[6] + nom_x[6]; - out_7636423458425794019[7] = delta_x[7] + nom_x[7]; - out_7636423458425794019[8] = delta_x[8] + nom_x[8]; - out_7636423458425794019[9] = delta_x[9] + nom_x[9]; - out_7636423458425794019[10] = delta_x[10] + nom_x[10]; - out_7636423458425794019[11] = delta_x[11] + nom_x[11]; - out_7636423458425794019[12] = delta_x[12] + nom_x[12]; - out_7636423458425794019[13] = delta_x[13] + nom_x[13]; - out_7636423458425794019[14] = delta_x[14] + nom_x[14]; - out_7636423458425794019[15] = delta_x[15] + nom_x[15]; - out_7636423458425794019[16] = delta_x[16] + nom_x[16]; - out_7636423458425794019[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2550502777521953992) { + out_2550502777521953992[0] = delta_x[0] + nom_x[0]; + out_2550502777521953992[1] = delta_x[1] + nom_x[1]; + out_2550502777521953992[2] = delta_x[2] + nom_x[2]; + out_2550502777521953992[3] = delta_x[3] + nom_x[3]; + out_2550502777521953992[4] = delta_x[4] + nom_x[4]; + out_2550502777521953992[5] = delta_x[5] + nom_x[5]; + out_2550502777521953992[6] = delta_x[6] + nom_x[6]; + out_2550502777521953992[7] = delta_x[7] + nom_x[7]; + out_2550502777521953992[8] = delta_x[8] + nom_x[8]; + out_2550502777521953992[9] = delta_x[9] + nom_x[9]; + out_2550502777521953992[10] = delta_x[10] + nom_x[10]; + out_2550502777521953992[11] = delta_x[11] + nom_x[11]; + out_2550502777521953992[12] = delta_x[12] + nom_x[12]; + out_2550502777521953992[13] = delta_x[13] + nom_x[13]; + out_2550502777521953992[14] = delta_x[14] + nom_x[14]; + out_2550502777521953992[15] = delta_x[15] + nom_x[15]; + out_2550502777521953992[16] = delta_x[16] + nom_x[16]; + out_2550502777521953992[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4233815579108349573) { - out_4233815579108349573[0] = -nom_x[0] + true_x[0]; - out_4233815579108349573[1] = -nom_x[1] + true_x[1]; - out_4233815579108349573[2] = -nom_x[2] + true_x[2]; - out_4233815579108349573[3] = -nom_x[3] + true_x[3]; - out_4233815579108349573[4] = -nom_x[4] + true_x[4]; - out_4233815579108349573[5] = -nom_x[5] + true_x[5]; - out_4233815579108349573[6] = -nom_x[6] + true_x[6]; - out_4233815579108349573[7] = -nom_x[7] + true_x[7]; - out_4233815579108349573[8] = -nom_x[8] + true_x[8]; - out_4233815579108349573[9] = -nom_x[9] + true_x[9]; - out_4233815579108349573[10] = -nom_x[10] + true_x[10]; - out_4233815579108349573[11] = -nom_x[11] + true_x[11]; - out_4233815579108349573[12] = -nom_x[12] + true_x[12]; - out_4233815579108349573[13] = -nom_x[13] + true_x[13]; - out_4233815579108349573[14] = -nom_x[14] + true_x[14]; - out_4233815579108349573[15] = -nom_x[15] + true_x[15]; - out_4233815579108349573[16] = -nom_x[16] + true_x[16]; - out_4233815579108349573[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2991013798952875835) { + out_2991013798952875835[0] = -nom_x[0] + true_x[0]; + out_2991013798952875835[1] = -nom_x[1] + true_x[1]; + out_2991013798952875835[2] = -nom_x[2] + true_x[2]; + out_2991013798952875835[3] = -nom_x[3] + true_x[3]; + out_2991013798952875835[4] = -nom_x[4] + true_x[4]; + out_2991013798952875835[5] = -nom_x[5] + true_x[5]; + out_2991013798952875835[6] = -nom_x[6] + true_x[6]; + out_2991013798952875835[7] = -nom_x[7] + true_x[7]; + out_2991013798952875835[8] = -nom_x[8] + true_x[8]; + out_2991013798952875835[9] = -nom_x[9] + true_x[9]; + out_2991013798952875835[10] = -nom_x[10] + true_x[10]; + out_2991013798952875835[11] = -nom_x[11] + true_x[11]; + out_2991013798952875835[12] = -nom_x[12] + true_x[12]; + out_2991013798952875835[13] = -nom_x[13] + true_x[13]; + out_2991013798952875835[14] = -nom_x[14] + true_x[14]; + out_2991013798952875835[15] = -nom_x[15] + true_x[15]; + out_2991013798952875835[16] = -nom_x[16] + true_x[16]; + out_2991013798952875835[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_534131660440936662) { - out_534131660440936662[0] = 1.0; - out_534131660440936662[1] = 0.0; - out_534131660440936662[2] = 0.0; - out_534131660440936662[3] = 0.0; - out_534131660440936662[4] = 0.0; - out_534131660440936662[5] = 0.0; - out_534131660440936662[6] = 0.0; - out_534131660440936662[7] = 0.0; - out_534131660440936662[8] = 0.0; - out_534131660440936662[9] = 0.0; - out_534131660440936662[10] = 0.0; - out_534131660440936662[11] = 0.0; - out_534131660440936662[12] = 0.0; - out_534131660440936662[13] = 0.0; - out_534131660440936662[14] = 0.0; - out_534131660440936662[15] = 0.0; - out_534131660440936662[16] = 0.0; - out_534131660440936662[17] = 0.0; - out_534131660440936662[18] = 0.0; - out_534131660440936662[19] = 1.0; - out_534131660440936662[20] = 0.0; - out_534131660440936662[21] = 0.0; - out_534131660440936662[22] = 0.0; - out_534131660440936662[23] = 0.0; - out_534131660440936662[24] = 0.0; - out_534131660440936662[25] = 0.0; - out_534131660440936662[26] = 0.0; - out_534131660440936662[27] = 0.0; - out_534131660440936662[28] = 0.0; - out_534131660440936662[29] = 0.0; - out_534131660440936662[30] = 0.0; - out_534131660440936662[31] = 0.0; - out_534131660440936662[32] = 0.0; - out_534131660440936662[33] = 0.0; - out_534131660440936662[34] = 0.0; - out_534131660440936662[35] = 0.0; - out_534131660440936662[36] = 0.0; - out_534131660440936662[37] = 0.0; - out_534131660440936662[38] = 1.0; - out_534131660440936662[39] = 0.0; - out_534131660440936662[40] = 0.0; - out_534131660440936662[41] = 0.0; - out_534131660440936662[42] = 0.0; - out_534131660440936662[43] = 0.0; - out_534131660440936662[44] = 0.0; - out_534131660440936662[45] = 0.0; - out_534131660440936662[46] = 0.0; - out_534131660440936662[47] = 0.0; - out_534131660440936662[48] = 0.0; - out_534131660440936662[49] = 0.0; - out_534131660440936662[50] = 0.0; - out_534131660440936662[51] = 0.0; - out_534131660440936662[52] = 0.0; - out_534131660440936662[53] = 0.0; - out_534131660440936662[54] = 0.0; - out_534131660440936662[55] = 0.0; - out_534131660440936662[56] = 0.0; - out_534131660440936662[57] = 1.0; - out_534131660440936662[58] = 0.0; - out_534131660440936662[59] = 0.0; - out_534131660440936662[60] = 0.0; - out_534131660440936662[61] = 0.0; - out_534131660440936662[62] = 0.0; - out_534131660440936662[63] = 0.0; - out_534131660440936662[64] = 0.0; - out_534131660440936662[65] = 0.0; - out_534131660440936662[66] = 0.0; - out_534131660440936662[67] = 0.0; - out_534131660440936662[68] = 0.0; - out_534131660440936662[69] = 0.0; - out_534131660440936662[70] = 0.0; - out_534131660440936662[71] = 0.0; - out_534131660440936662[72] = 0.0; - out_534131660440936662[73] = 0.0; - out_534131660440936662[74] = 0.0; - out_534131660440936662[75] = 0.0; - out_534131660440936662[76] = 1.0; - out_534131660440936662[77] = 0.0; - out_534131660440936662[78] = 0.0; - out_534131660440936662[79] = 0.0; - out_534131660440936662[80] = 0.0; - out_534131660440936662[81] = 0.0; - out_534131660440936662[82] = 0.0; - out_534131660440936662[83] = 0.0; - out_534131660440936662[84] = 0.0; - out_534131660440936662[85] = 0.0; - out_534131660440936662[86] = 0.0; - out_534131660440936662[87] = 0.0; - out_534131660440936662[88] = 0.0; - out_534131660440936662[89] = 0.0; - out_534131660440936662[90] = 0.0; - out_534131660440936662[91] = 0.0; - out_534131660440936662[92] = 0.0; - out_534131660440936662[93] = 0.0; - out_534131660440936662[94] = 0.0; - out_534131660440936662[95] = 1.0; - out_534131660440936662[96] = 0.0; - out_534131660440936662[97] = 0.0; - out_534131660440936662[98] = 0.0; - out_534131660440936662[99] = 0.0; - out_534131660440936662[100] = 0.0; - out_534131660440936662[101] = 0.0; - out_534131660440936662[102] = 0.0; - out_534131660440936662[103] = 0.0; - out_534131660440936662[104] = 0.0; - out_534131660440936662[105] = 0.0; - out_534131660440936662[106] = 0.0; - out_534131660440936662[107] = 0.0; - out_534131660440936662[108] = 0.0; - out_534131660440936662[109] = 0.0; - out_534131660440936662[110] = 0.0; - out_534131660440936662[111] = 0.0; - out_534131660440936662[112] = 0.0; - out_534131660440936662[113] = 0.0; - out_534131660440936662[114] = 1.0; - out_534131660440936662[115] = 0.0; - out_534131660440936662[116] = 0.0; - out_534131660440936662[117] = 0.0; - out_534131660440936662[118] = 0.0; - out_534131660440936662[119] = 0.0; - out_534131660440936662[120] = 0.0; - out_534131660440936662[121] = 0.0; - out_534131660440936662[122] = 0.0; - out_534131660440936662[123] = 0.0; - out_534131660440936662[124] = 0.0; - out_534131660440936662[125] = 0.0; - out_534131660440936662[126] = 0.0; - out_534131660440936662[127] = 0.0; - out_534131660440936662[128] = 0.0; - out_534131660440936662[129] = 0.0; - out_534131660440936662[130] = 0.0; - out_534131660440936662[131] = 0.0; - out_534131660440936662[132] = 0.0; - out_534131660440936662[133] = 1.0; - out_534131660440936662[134] = 0.0; - out_534131660440936662[135] = 0.0; - out_534131660440936662[136] = 0.0; - out_534131660440936662[137] = 0.0; - out_534131660440936662[138] = 0.0; - out_534131660440936662[139] = 0.0; - out_534131660440936662[140] = 0.0; - out_534131660440936662[141] = 0.0; - out_534131660440936662[142] = 0.0; - out_534131660440936662[143] = 0.0; - out_534131660440936662[144] = 0.0; - out_534131660440936662[145] = 0.0; - out_534131660440936662[146] = 0.0; - out_534131660440936662[147] = 0.0; - out_534131660440936662[148] = 0.0; - out_534131660440936662[149] = 0.0; - out_534131660440936662[150] = 0.0; - out_534131660440936662[151] = 0.0; - out_534131660440936662[152] = 1.0; - out_534131660440936662[153] = 0.0; - out_534131660440936662[154] = 0.0; - out_534131660440936662[155] = 0.0; - out_534131660440936662[156] = 0.0; - out_534131660440936662[157] = 0.0; - out_534131660440936662[158] = 0.0; - out_534131660440936662[159] = 0.0; - out_534131660440936662[160] = 0.0; - out_534131660440936662[161] = 0.0; - out_534131660440936662[162] = 0.0; - out_534131660440936662[163] = 0.0; - out_534131660440936662[164] = 0.0; - out_534131660440936662[165] = 0.0; - out_534131660440936662[166] = 0.0; - out_534131660440936662[167] = 0.0; - out_534131660440936662[168] = 0.0; - out_534131660440936662[169] = 0.0; - out_534131660440936662[170] = 0.0; - out_534131660440936662[171] = 1.0; - out_534131660440936662[172] = 0.0; - out_534131660440936662[173] = 0.0; - out_534131660440936662[174] = 0.0; - out_534131660440936662[175] = 0.0; - out_534131660440936662[176] = 0.0; - out_534131660440936662[177] = 0.0; - out_534131660440936662[178] = 0.0; - out_534131660440936662[179] = 0.0; - out_534131660440936662[180] = 0.0; - out_534131660440936662[181] = 0.0; - out_534131660440936662[182] = 0.0; - out_534131660440936662[183] = 0.0; - out_534131660440936662[184] = 0.0; - out_534131660440936662[185] = 0.0; - out_534131660440936662[186] = 0.0; - out_534131660440936662[187] = 0.0; - out_534131660440936662[188] = 0.0; - out_534131660440936662[189] = 0.0; - out_534131660440936662[190] = 1.0; - out_534131660440936662[191] = 0.0; - out_534131660440936662[192] = 0.0; - out_534131660440936662[193] = 0.0; - out_534131660440936662[194] = 0.0; - out_534131660440936662[195] = 0.0; - out_534131660440936662[196] = 0.0; - out_534131660440936662[197] = 0.0; - out_534131660440936662[198] = 0.0; - out_534131660440936662[199] = 0.0; - out_534131660440936662[200] = 0.0; - out_534131660440936662[201] = 0.0; - out_534131660440936662[202] = 0.0; - out_534131660440936662[203] = 0.0; - out_534131660440936662[204] = 0.0; - out_534131660440936662[205] = 0.0; - out_534131660440936662[206] = 0.0; - out_534131660440936662[207] = 0.0; - out_534131660440936662[208] = 0.0; - out_534131660440936662[209] = 1.0; - out_534131660440936662[210] = 0.0; - out_534131660440936662[211] = 0.0; - out_534131660440936662[212] = 0.0; - out_534131660440936662[213] = 0.0; - out_534131660440936662[214] = 0.0; - out_534131660440936662[215] = 0.0; - out_534131660440936662[216] = 0.0; - out_534131660440936662[217] = 0.0; - out_534131660440936662[218] = 0.0; - out_534131660440936662[219] = 0.0; - out_534131660440936662[220] = 0.0; - out_534131660440936662[221] = 0.0; - out_534131660440936662[222] = 0.0; - out_534131660440936662[223] = 0.0; - out_534131660440936662[224] = 0.0; - out_534131660440936662[225] = 0.0; - out_534131660440936662[226] = 0.0; - out_534131660440936662[227] = 0.0; - out_534131660440936662[228] = 1.0; - out_534131660440936662[229] = 0.0; - out_534131660440936662[230] = 0.0; - out_534131660440936662[231] = 0.0; - out_534131660440936662[232] = 0.0; - out_534131660440936662[233] = 0.0; - out_534131660440936662[234] = 0.0; - out_534131660440936662[235] = 0.0; - out_534131660440936662[236] = 0.0; - out_534131660440936662[237] = 0.0; - out_534131660440936662[238] = 0.0; - out_534131660440936662[239] = 0.0; - out_534131660440936662[240] = 0.0; - out_534131660440936662[241] = 0.0; - out_534131660440936662[242] = 0.0; - out_534131660440936662[243] = 0.0; - out_534131660440936662[244] = 0.0; - out_534131660440936662[245] = 0.0; - out_534131660440936662[246] = 0.0; - out_534131660440936662[247] = 1.0; - out_534131660440936662[248] = 0.0; - out_534131660440936662[249] = 0.0; - out_534131660440936662[250] = 0.0; - out_534131660440936662[251] = 0.0; - out_534131660440936662[252] = 0.0; - out_534131660440936662[253] = 0.0; - out_534131660440936662[254] = 0.0; - out_534131660440936662[255] = 0.0; - out_534131660440936662[256] = 0.0; - out_534131660440936662[257] = 0.0; - out_534131660440936662[258] = 0.0; - out_534131660440936662[259] = 0.0; - out_534131660440936662[260] = 0.0; - out_534131660440936662[261] = 0.0; - out_534131660440936662[262] = 0.0; - out_534131660440936662[263] = 0.0; - out_534131660440936662[264] = 0.0; - out_534131660440936662[265] = 0.0; - out_534131660440936662[266] = 1.0; - out_534131660440936662[267] = 0.0; - out_534131660440936662[268] = 0.0; - out_534131660440936662[269] = 0.0; - out_534131660440936662[270] = 0.0; - out_534131660440936662[271] = 0.0; - out_534131660440936662[272] = 0.0; - out_534131660440936662[273] = 0.0; - out_534131660440936662[274] = 0.0; - out_534131660440936662[275] = 0.0; - out_534131660440936662[276] = 0.0; - out_534131660440936662[277] = 0.0; - out_534131660440936662[278] = 0.0; - out_534131660440936662[279] = 0.0; - out_534131660440936662[280] = 0.0; - out_534131660440936662[281] = 0.0; - out_534131660440936662[282] = 0.0; - out_534131660440936662[283] = 0.0; - out_534131660440936662[284] = 0.0; - out_534131660440936662[285] = 1.0; - out_534131660440936662[286] = 0.0; - out_534131660440936662[287] = 0.0; - out_534131660440936662[288] = 0.0; - out_534131660440936662[289] = 0.0; - out_534131660440936662[290] = 0.0; - out_534131660440936662[291] = 0.0; - out_534131660440936662[292] = 0.0; - out_534131660440936662[293] = 0.0; - out_534131660440936662[294] = 0.0; - out_534131660440936662[295] = 0.0; - out_534131660440936662[296] = 0.0; - out_534131660440936662[297] = 0.0; - out_534131660440936662[298] = 0.0; - out_534131660440936662[299] = 0.0; - out_534131660440936662[300] = 0.0; - out_534131660440936662[301] = 0.0; - out_534131660440936662[302] = 0.0; - out_534131660440936662[303] = 0.0; - out_534131660440936662[304] = 1.0; - out_534131660440936662[305] = 0.0; - out_534131660440936662[306] = 0.0; - out_534131660440936662[307] = 0.0; - out_534131660440936662[308] = 0.0; - out_534131660440936662[309] = 0.0; - out_534131660440936662[310] = 0.0; - out_534131660440936662[311] = 0.0; - out_534131660440936662[312] = 0.0; - out_534131660440936662[313] = 0.0; - out_534131660440936662[314] = 0.0; - out_534131660440936662[315] = 0.0; - out_534131660440936662[316] = 0.0; - out_534131660440936662[317] = 0.0; - out_534131660440936662[318] = 0.0; - out_534131660440936662[319] = 0.0; - out_534131660440936662[320] = 0.0; - out_534131660440936662[321] = 0.0; - out_534131660440936662[322] = 0.0; - out_534131660440936662[323] = 1.0; +void H_mod_fun(double *state, double *out_3992538829710935120) { + out_3992538829710935120[0] = 1.0; + out_3992538829710935120[1] = 0.0; + out_3992538829710935120[2] = 0.0; + out_3992538829710935120[3] = 0.0; + out_3992538829710935120[4] = 0.0; + out_3992538829710935120[5] = 0.0; + out_3992538829710935120[6] = 0.0; + out_3992538829710935120[7] = 0.0; + out_3992538829710935120[8] = 0.0; + out_3992538829710935120[9] = 0.0; + out_3992538829710935120[10] = 0.0; + out_3992538829710935120[11] = 0.0; + out_3992538829710935120[12] = 0.0; + out_3992538829710935120[13] = 0.0; + out_3992538829710935120[14] = 0.0; + out_3992538829710935120[15] = 0.0; + out_3992538829710935120[16] = 0.0; + out_3992538829710935120[17] = 0.0; + out_3992538829710935120[18] = 0.0; + out_3992538829710935120[19] = 1.0; + out_3992538829710935120[20] = 0.0; + out_3992538829710935120[21] = 0.0; + out_3992538829710935120[22] = 0.0; + out_3992538829710935120[23] = 0.0; + out_3992538829710935120[24] = 0.0; + out_3992538829710935120[25] = 0.0; + out_3992538829710935120[26] = 0.0; + out_3992538829710935120[27] = 0.0; + out_3992538829710935120[28] = 0.0; + out_3992538829710935120[29] = 0.0; + out_3992538829710935120[30] = 0.0; + out_3992538829710935120[31] = 0.0; + out_3992538829710935120[32] = 0.0; + out_3992538829710935120[33] = 0.0; + out_3992538829710935120[34] = 0.0; + out_3992538829710935120[35] = 0.0; + out_3992538829710935120[36] = 0.0; + out_3992538829710935120[37] = 0.0; + out_3992538829710935120[38] = 1.0; + out_3992538829710935120[39] = 0.0; + out_3992538829710935120[40] = 0.0; + out_3992538829710935120[41] = 0.0; + out_3992538829710935120[42] = 0.0; + out_3992538829710935120[43] = 0.0; + out_3992538829710935120[44] = 0.0; + out_3992538829710935120[45] = 0.0; + out_3992538829710935120[46] = 0.0; + out_3992538829710935120[47] = 0.0; + out_3992538829710935120[48] = 0.0; + out_3992538829710935120[49] = 0.0; + out_3992538829710935120[50] = 0.0; + out_3992538829710935120[51] = 0.0; + out_3992538829710935120[52] = 0.0; + out_3992538829710935120[53] = 0.0; + out_3992538829710935120[54] = 0.0; + out_3992538829710935120[55] = 0.0; + out_3992538829710935120[56] = 0.0; + out_3992538829710935120[57] = 1.0; + out_3992538829710935120[58] = 0.0; + out_3992538829710935120[59] = 0.0; + out_3992538829710935120[60] = 0.0; + out_3992538829710935120[61] = 0.0; + out_3992538829710935120[62] = 0.0; + out_3992538829710935120[63] = 0.0; + out_3992538829710935120[64] = 0.0; + out_3992538829710935120[65] = 0.0; + out_3992538829710935120[66] = 0.0; + out_3992538829710935120[67] = 0.0; + out_3992538829710935120[68] = 0.0; + out_3992538829710935120[69] = 0.0; + out_3992538829710935120[70] = 0.0; + out_3992538829710935120[71] = 0.0; + out_3992538829710935120[72] = 0.0; + out_3992538829710935120[73] = 0.0; + out_3992538829710935120[74] = 0.0; + out_3992538829710935120[75] = 0.0; + out_3992538829710935120[76] = 1.0; + out_3992538829710935120[77] = 0.0; + out_3992538829710935120[78] = 0.0; + out_3992538829710935120[79] = 0.0; + out_3992538829710935120[80] = 0.0; + out_3992538829710935120[81] = 0.0; + out_3992538829710935120[82] = 0.0; + out_3992538829710935120[83] = 0.0; + out_3992538829710935120[84] = 0.0; + out_3992538829710935120[85] = 0.0; + out_3992538829710935120[86] = 0.0; + out_3992538829710935120[87] = 0.0; + out_3992538829710935120[88] = 0.0; + out_3992538829710935120[89] = 0.0; + out_3992538829710935120[90] = 0.0; + out_3992538829710935120[91] = 0.0; + out_3992538829710935120[92] = 0.0; + out_3992538829710935120[93] = 0.0; + out_3992538829710935120[94] = 0.0; + out_3992538829710935120[95] = 1.0; + out_3992538829710935120[96] = 0.0; + out_3992538829710935120[97] = 0.0; + out_3992538829710935120[98] = 0.0; + out_3992538829710935120[99] = 0.0; + out_3992538829710935120[100] = 0.0; + out_3992538829710935120[101] = 0.0; + out_3992538829710935120[102] = 0.0; + out_3992538829710935120[103] = 0.0; + out_3992538829710935120[104] = 0.0; + out_3992538829710935120[105] = 0.0; + out_3992538829710935120[106] = 0.0; + out_3992538829710935120[107] = 0.0; + out_3992538829710935120[108] = 0.0; + out_3992538829710935120[109] = 0.0; + out_3992538829710935120[110] = 0.0; + out_3992538829710935120[111] = 0.0; + out_3992538829710935120[112] = 0.0; + out_3992538829710935120[113] = 0.0; + out_3992538829710935120[114] = 1.0; + out_3992538829710935120[115] = 0.0; + out_3992538829710935120[116] = 0.0; + out_3992538829710935120[117] = 0.0; + out_3992538829710935120[118] = 0.0; + out_3992538829710935120[119] = 0.0; + out_3992538829710935120[120] = 0.0; + out_3992538829710935120[121] = 0.0; + out_3992538829710935120[122] = 0.0; + out_3992538829710935120[123] = 0.0; + out_3992538829710935120[124] = 0.0; + out_3992538829710935120[125] = 0.0; + out_3992538829710935120[126] = 0.0; + out_3992538829710935120[127] = 0.0; + out_3992538829710935120[128] = 0.0; + out_3992538829710935120[129] = 0.0; + out_3992538829710935120[130] = 0.0; + out_3992538829710935120[131] = 0.0; + out_3992538829710935120[132] = 0.0; + out_3992538829710935120[133] = 1.0; + out_3992538829710935120[134] = 0.0; + out_3992538829710935120[135] = 0.0; + out_3992538829710935120[136] = 0.0; + out_3992538829710935120[137] = 0.0; + out_3992538829710935120[138] = 0.0; + out_3992538829710935120[139] = 0.0; + out_3992538829710935120[140] = 0.0; + out_3992538829710935120[141] = 0.0; + out_3992538829710935120[142] = 0.0; + out_3992538829710935120[143] = 0.0; + out_3992538829710935120[144] = 0.0; + out_3992538829710935120[145] = 0.0; + out_3992538829710935120[146] = 0.0; + out_3992538829710935120[147] = 0.0; + out_3992538829710935120[148] = 0.0; + out_3992538829710935120[149] = 0.0; + out_3992538829710935120[150] = 0.0; + out_3992538829710935120[151] = 0.0; + out_3992538829710935120[152] = 1.0; + out_3992538829710935120[153] = 0.0; + out_3992538829710935120[154] = 0.0; + out_3992538829710935120[155] = 0.0; + out_3992538829710935120[156] = 0.0; + out_3992538829710935120[157] = 0.0; + out_3992538829710935120[158] = 0.0; + out_3992538829710935120[159] = 0.0; + out_3992538829710935120[160] = 0.0; + out_3992538829710935120[161] = 0.0; + out_3992538829710935120[162] = 0.0; + out_3992538829710935120[163] = 0.0; + out_3992538829710935120[164] = 0.0; + out_3992538829710935120[165] = 0.0; + out_3992538829710935120[166] = 0.0; + out_3992538829710935120[167] = 0.0; + out_3992538829710935120[168] = 0.0; + out_3992538829710935120[169] = 0.0; + out_3992538829710935120[170] = 0.0; + out_3992538829710935120[171] = 1.0; + out_3992538829710935120[172] = 0.0; + out_3992538829710935120[173] = 0.0; + out_3992538829710935120[174] = 0.0; + out_3992538829710935120[175] = 0.0; + out_3992538829710935120[176] = 0.0; + out_3992538829710935120[177] = 0.0; + out_3992538829710935120[178] = 0.0; + out_3992538829710935120[179] = 0.0; + out_3992538829710935120[180] = 0.0; + out_3992538829710935120[181] = 0.0; + out_3992538829710935120[182] = 0.0; + out_3992538829710935120[183] = 0.0; + out_3992538829710935120[184] = 0.0; + out_3992538829710935120[185] = 0.0; + out_3992538829710935120[186] = 0.0; + out_3992538829710935120[187] = 0.0; + out_3992538829710935120[188] = 0.0; + out_3992538829710935120[189] = 0.0; + out_3992538829710935120[190] = 1.0; + out_3992538829710935120[191] = 0.0; + out_3992538829710935120[192] = 0.0; + out_3992538829710935120[193] = 0.0; + out_3992538829710935120[194] = 0.0; + out_3992538829710935120[195] = 0.0; + out_3992538829710935120[196] = 0.0; + out_3992538829710935120[197] = 0.0; + out_3992538829710935120[198] = 0.0; + out_3992538829710935120[199] = 0.0; + out_3992538829710935120[200] = 0.0; + out_3992538829710935120[201] = 0.0; + out_3992538829710935120[202] = 0.0; + out_3992538829710935120[203] = 0.0; + out_3992538829710935120[204] = 0.0; + out_3992538829710935120[205] = 0.0; + out_3992538829710935120[206] = 0.0; + out_3992538829710935120[207] = 0.0; + out_3992538829710935120[208] = 0.0; + out_3992538829710935120[209] = 1.0; + out_3992538829710935120[210] = 0.0; + out_3992538829710935120[211] = 0.0; + out_3992538829710935120[212] = 0.0; + out_3992538829710935120[213] = 0.0; + out_3992538829710935120[214] = 0.0; + out_3992538829710935120[215] = 0.0; + out_3992538829710935120[216] = 0.0; + out_3992538829710935120[217] = 0.0; + out_3992538829710935120[218] = 0.0; + out_3992538829710935120[219] = 0.0; + out_3992538829710935120[220] = 0.0; + out_3992538829710935120[221] = 0.0; + out_3992538829710935120[222] = 0.0; + out_3992538829710935120[223] = 0.0; + out_3992538829710935120[224] = 0.0; + out_3992538829710935120[225] = 0.0; + out_3992538829710935120[226] = 0.0; + out_3992538829710935120[227] = 0.0; + out_3992538829710935120[228] = 1.0; + out_3992538829710935120[229] = 0.0; + out_3992538829710935120[230] = 0.0; + out_3992538829710935120[231] = 0.0; + out_3992538829710935120[232] = 0.0; + out_3992538829710935120[233] = 0.0; + out_3992538829710935120[234] = 0.0; + out_3992538829710935120[235] = 0.0; + out_3992538829710935120[236] = 0.0; + out_3992538829710935120[237] = 0.0; + out_3992538829710935120[238] = 0.0; + out_3992538829710935120[239] = 0.0; + out_3992538829710935120[240] = 0.0; + out_3992538829710935120[241] = 0.0; + out_3992538829710935120[242] = 0.0; + out_3992538829710935120[243] = 0.0; + out_3992538829710935120[244] = 0.0; + out_3992538829710935120[245] = 0.0; + out_3992538829710935120[246] = 0.0; + out_3992538829710935120[247] = 1.0; + out_3992538829710935120[248] = 0.0; + out_3992538829710935120[249] = 0.0; + out_3992538829710935120[250] = 0.0; + out_3992538829710935120[251] = 0.0; + out_3992538829710935120[252] = 0.0; + out_3992538829710935120[253] = 0.0; + out_3992538829710935120[254] = 0.0; + out_3992538829710935120[255] = 0.0; + out_3992538829710935120[256] = 0.0; + out_3992538829710935120[257] = 0.0; + out_3992538829710935120[258] = 0.0; + out_3992538829710935120[259] = 0.0; + out_3992538829710935120[260] = 0.0; + out_3992538829710935120[261] = 0.0; + out_3992538829710935120[262] = 0.0; + out_3992538829710935120[263] = 0.0; + out_3992538829710935120[264] = 0.0; + out_3992538829710935120[265] = 0.0; + out_3992538829710935120[266] = 1.0; + out_3992538829710935120[267] = 0.0; + out_3992538829710935120[268] = 0.0; + out_3992538829710935120[269] = 0.0; + out_3992538829710935120[270] = 0.0; + out_3992538829710935120[271] = 0.0; + out_3992538829710935120[272] = 0.0; + out_3992538829710935120[273] = 0.0; + out_3992538829710935120[274] = 0.0; + out_3992538829710935120[275] = 0.0; + out_3992538829710935120[276] = 0.0; + out_3992538829710935120[277] = 0.0; + out_3992538829710935120[278] = 0.0; + out_3992538829710935120[279] = 0.0; + out_3992538829710935120[280] = 0.0; + out_3992538829710935120[281] = 0.0; + out_3992538829710935120[282] = 0.0; + out_3992538829710935120[283] = 0.0; + out_3992538829710935120[284] = 0.0; + out_3992538829710935120[285] = 1.0; + out_3992538829710935120[286] = 0.0; + out_3992538829710935120[287] = 0.0; + out_3992538829710935120[288] = 0.0; + out_3992538829710935120[289] = 0.0; + out_3992538829710935120[290] = 0.0; + out_3992538829710935120[291] = 0.0; + out_3992538829710935120[292] = 0.0; + out_3992538829710935120[293] = 0.0; + out_3992538829710935120[294] = 0.0; + out_3992538829710935120[295] = 0.0; + out_3992538829710935120[296] = 0.0; + out_3992538829710935120[297] = 0.0; + out_3992538829710935120[298] = 0.0; + out_3992538829710935120[299] = 0.0; + out_3992538829710935120[300] = 0.0; + out_3992538829710935120[301] = 0.0; + out_3992538829710935120[302] = 0.0; + out_3992538829710935120[303] = 0.0; + out_3992538829710935120[304] = 1.0; + out_3992538829710935120[305] = 0.0; + out_3992538829710935120[306] = 0.0; + out_3992538829710935120[307] = 0.0; + out_3992538829710935120[308] = 0.0; + out_3992538829710935120[309] = 0.0; + out_3992538829710935120[310] = 0.0; + out_3992538829710935120[311] = 0.0; + out_3992538829710935120[312] = 0.0; + out_3992538829710935120[313] = 0.0; + out_3992538829710935120[314] = 0.0; + out_3992538829710935120[315] = 0.0; + out_3992538829710935120[316] = 0.0; + out_3992538829710935120[317] = 0.0; + out_3992538829710935120[318] = 0.0; + out_3992538829710935120[319] = 0.0; + out_3992538829710935120[320] = 0.0; + out_3992538829710935120[321] = 0.0; + out_3992538829710935120[322] = 0.0; + out_3992538829710935120[323] = 1.0; } -void f_fun(double *state, double dt, double *out_2390572541081456385) { - out_2390572541081456385[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_2390572541081456385[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_2390572541081456385[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_2390572541081456385[3] = dt*state[12] + state[3]; - out_2390572541081456385[4] = dt*state[13] + state[4]; - out_2390572541081456385[5] = dt*state[14] + state[5]; - out_2390572541081456385[6] = state[6]; - out_2390572541081456385[7] = state[7]; - out_2390572541081456385[8] = state[8]; - out_2390572541081456385[9] = state[9]; - out_2390572541081456385[10] = state[10]; - out_2390572541081456385[11] = state[11]; - out_2390572541081456385[12] = state[12]; - out_2390572541081456385[13] = state[13]; - out_2390572541081456385[14] = state[14]; - out_2390572541081456385[15] = state[15]; - out_2390572541081456385[16] = state[16]; - out_2390572541081456385[17] = state[17]; +void f_fun(double *state, double dt, double *out_8224128290291442758) { + out_8224128290291442758[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_8224128290291442758[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_8224128290291442758[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_8224128290291442758[3] = dt*state[12] + state[3]; + out_8224128290291442758[4] = dt*state[13] + state[4]; + out_8224128290291442758[5] = dt*state[14] + state[5]; + out_8224128290291442758[6] = state[6]; + out_8224128290291442758[7] = state[7]; + out_8224128290291442758[8] = state[8]; + out_8224128290291442758[9] = state[9]; + out_8224128290291442758[10] = state[10]; + out_8224128290291442758[11] = state[11]; + out_8224128290291442758[12] = state[12]; + out_8224128290291442758[13] = state[13]; + out_8224128290291442758[14] = state[14]; + out_8224128290291442758[15] = state[15]; + out_8224128290291442758[16] = state[16]; + out_8224128290291442758[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1513223696750910511) { - out_1513223696750910511[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_1513223696750910511[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_1513223696750910511[2] = 0; - out_1513223696750910511[3] = 0; - out_1513223696750910511[4] = 0; - out_1513223696750910511[5] = 0; - out_1513223696750910511[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_1513223696750910511[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_1513223696750910511[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_1513223696750910511[9] = 0; - out_1513223696750910511[10] = 0; - out_1513223696750910511[11] = 0; - out_1513223696750910511[12] = 0; - out_1513223696750910511[13] = 0; - out_1513223696750910511[14] = 0; - out_1513223696750910511[15] = 0; - out_1513223696750910511[16] = 0; - out_1513223696750910511[17] = 0; - out_1513223696750910511[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_1513223696750910511[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_1513223696750910511[20] = 0; - out_1513223696750910511[21] = 0; - out_1513223696750910511[22] = 0; - out_1513223696750910511[23] = 0; - out_1513223696750910511[24] = 0; - out_1513223696750910511[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_1513223696750910511[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_1513223696750910511[27] = 0; - out_1513223696750910511[28] = 0; - out_1513223696750910511[29] = 0; - out_1513223696750910511[30] = 0; - out_1513223696750910511[31] = 0; - out_1513223696750910511[32] = 0; - out_1513223696750910511[33] = 0; - out_1513223696750910511[34] = 0; - out_1513223696750910511[35] = 0; - out_1513223696750910511[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_1513223696750910511[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_1513223696750910511[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_1513223696750910511[39] = 0; - out_1513223696750910511[40] = 0; - out_1513223696750910511[41] = 0; - out_1513223696750910511[42] = 0; - out_1513223696750910511[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_1513223696750910511[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_1513223696750910511[45] = 0; - out_1513223696750910511[46] = 0; - out_1513223696750910511[47] = 0; - out_1513223696750910511[48] = 0; - out_1513223696750910511[49] = 0; - out_1513223696750910511[50] = 0; - out_1513223696750910511[51] = 0; - out_1513223696750910511[52] = 0; - out_1513223696750910511[53] = 0; - out_1513223696750910511[54] = 0; - out_1513223696750910511[55] = 0; - out_1513223696750910511[56] = 0; - out_1513223696750910511[57] = 1; - out_1513223696750910511[58] = 0; - out_1513223696750910511[59] = 0; - out_1513223696750910511[60] = 0; - out_1513223696750910511[61] = 0; - out_1513223696750910511[62] = 0; - out_1513223696750910511[63] = 0; - out_1513223696750910511[64] = 0; - out_1513223696750910511[65] = 0; - out_1513223696750910511[66] = dt; - out_1513223696750910511[67] = 0; - out_1513223696750910511[68] = 0; - out_1513223696750910511[69] = 0; - out_1513223696750910511[70] = 0; - out_1513223696750910511[71] = 0; - out_1513223696750910511[72] = 0; - out_1513223696750910511[73] = 0; - out_1513223696750910511[74] = 0; - out_1513223696750910511[75] = 0; - out_1513223696750910511[76] = 1; - out_1513223696750910511[77] = 0; - out_1513223696750910511[78] = 0; - out_1513223696750910511[79] = 0; - out_1513223696750910511[80] = 0; - out_1513223696750910511[81] = 0; - out_1513223696750910511[82] = 0; - out_1513223696750910511[83] = 0; - out_1513223696750910511[84] = 0; - out_1513223696750910511[85] = dt; - out_1513223696750910511[86] = 0; - out_1513223696750910511[87] = 0; - out_1513223696750910511[88] = 0; - out_1513223696750910511[89] = 0; - out_1513223696750910511[90] = 0; - out_1513223696750910511[91] = 0; - out_1513223696750910511[92] = 0; - out_1513223696750910511[93] = 0; - out_1513223696750910511[94] = 0; - out_1513223696750910511[95] = 1; - out_1513223696750910511[96] = 0; - out_1513223696750910511[97] = 0; - out_1513223696750910511[98] = 0; - out_1513223696750910511[99] = 0; - out_1513223696750910511[100] = 0; - out_1513223696750910511[101] = 0; - out_1513223696750910511[102] = 0; - out_1513223696750910511[103] = 0; - out_1513223696750910511[104] = dt; - out_1513223696750910511[105] = 0; - out_1513223696750910511[106] = 0; - out_1513223696750910511[107] = 0; - out_1513223696750910511[108] = 0; - out_1513223696750910511[109] = 0; - out_1513223696750910511[110] = 0; - out_1513223696750910511[111] = 0; - out_1513223696750910511[112] = 0; - out_1513223696750910511[113] = 0; - out_1513223696750910511[114] = 1; - out_1513223696750910511[115] = 0; - out_1513223696750910511[116] = 0; - out_1513223696750910511[117] = 0; - out_1513223696750910511[118] = 0; - out_1513223696750910511[119] = 0; - out_1513223696750910511[120] = 0; - out_1513223696750910511[121] = 0; - out_1513223696750910511[122] = 0; - out_1513223696750910511[123] = 0; - out_1513223696750910511[124] = 0; - out_1513223696750910511[125] = 0; - out_1513223696750910511[126] = 0; - out_1513223696750910511[127] = 0; - out_1513223696750910511[128] = 0; - out_1513223696750910511[129] = 0; - out_1513223696750910511[130] = 0; - out_1513223696750910511[131] = 0; - out_1513223696750910511[132] = 0; - out_1513223696750910511[133] = 1; - out_1513223696750910511[134] = 0; - out_1513223696750910511[135] = 0; - out_1513223696750910511[136] = 0; - out_1513223696750910511[137] = 0; - out_1513223696750910511[138] = 0; - out_1513223696750910511[139] = 0; - out_1513223696750910511[140] = 0; - out_1513223696750910511[141] = 0; - out_1513223696750910511[142] = 0; - out_1513223696750910511[143] = 0; - out_1513223696750910511[144] = 0; - out_1513223696750910511[145] = 0; - out_1513223696750910511[146] = 0; - out_1513223696750910511[147] = 0; - out_1513223696750910511[148] = 0; - out_1513223696750910511[149] = 0; - out_1513223696750910511[150] = 0; - out_1513223696750910511[151] = 0; - out_1513223696750910511[152] = 1; - out_1513223696750910511[153] = 0; - out_1513223696750910511[154] = 0; - out_1513223696750910511[155] = 0; - out_1513223696750910511[156] = 0; - out_1513223696750910511[157] = 0; - out_1513223696750910511[158] = 0; - out_1513223696750910511[159] = 0; - out_1513223696750910511[160] = 0; - out_1513223696750910511[161] = 0; - out_1513223696750910511[162] = 0; - out_1513223696750910511[163] = 0; - out_1513223696750910511[164] = 0; - out_1513223696750910511[165] = 0; - out_1513223696750910511[166] = 0; - out_1513223696750910511[167] = 0; - out_1513223696750910511[168] = 0; - out_1513223696750910511[169] = 0; - out_1513223696750910511[170] = 0; - out_1513223696750910511[171] = 1; - out_1513223696750910511[172] = 0; - out_1513223696750910511[173] = 0; - out_1513223696750910511[174] = 0; - out_1513223696750910511[175] = 0; - out_1513223696750910511[176] = 0; - out_1513223696750910511[177] = 0; - out_1513223696750910511[178] = 0; - out_1513223696750910511[179] = 0; - out_1513223696750910511[180] = 0; - out_1513223696750910511[181] = 0; - out_1513223696750910511[182] = 0; - out_1513223696750910511[183] = 0; - out_1513223696750910511[184] = 0; - out_1513223696750910511[185] = 0; - out_1513223696750910511[186] = 0; - out_1513223696750910511[187] = 0; - out_1513223696750910511[188] = 0; - out_1513223696750910511[189] = 0; - out_1513223696750910511[190] = 1; - out_1513223696750910511[191] = 0; - out_1513223696750910511[192] = 0; - out_1513223696750910511[193] = 0; - out_1513223696750910511[194] = 0; - out_1513223696750910511[195] = 0; - out_1513223696750910511[196] = 0; - out_1513223696750910511[197] = 0; - out_1513223696750910511[198] = 0; - out_1513223696750910511[199] = 0; - out_1513223696750910511[200] = 0; - out_1513223696750910511[201] = 0; - out_1513223696750910511[202] = 0; - out_1513223696750910511[203] = 0; - out_1513223696750910511[204] = 0; - out_1513223696750910511[205] = 0; - out_1513223696750910511[206] = 0; - out_1513223696750910511[207] = 0; - out_1513223696750910511[208] = 0; - out_1513223696750910511[209] = 1; - out_1513223696750910511[210] = 0; - out_1513223696750910511[211] = 0; - out_1513223696750910511[212] = 0; - out_1513223696750910511[213] = 0; - out_1513223696750910511[214] = 0; - out_1513223696750910511[215] = 0; - out_1513223696750910511[216] = 0; - out_1513223696750910511[217] = 0; - out_1513223696750910511[218] = 0; - out_1513223696750910511[219] = 0; - out_1513223696750910511[220] = 0; - out_1513223696750910511[221] = 0; - out_1513223696750910511[222] = 0; - out_1513223696750910511[223] = 0; - out_1513223696750910511[224] = 0; - out_1513223696750910511[225] = 0; - out_1513223696750910511[226] = 0; - out_1513223696750910511[227] = 0; - out_1513223696750910511[228] = 1; - out_1513223696750910511[229] = 0; - out_1513223696750910511[230] = 0; - out_1513223696750910511[231] = 0; - out_1513223696750910511[232] = 0; - out_1513223696750910511[233] = 0; - out_1513223696750910511[234] = 0; - out_1513223696750910511[235] = 0; - out_1513223696750910511[236] = 0; - out_1513223696750910511[237] = 0; - out_1513223696750910511[238] = 0; - out_1513223696750910511[239] = 0; - out_1513223696750910511[240] = 0; - out_1513223696750910511[241] = 0; - out_1513223696750910511[242] = 0; - out_1513223696750910511[243] = 0; - out_1513223696750910511[244] = 0; - out_1513223696750910511[245] = 0; - out_1513223696750910511[246] = 0; - out_1513223696750910511[247] = 1; - out_1513223696750910511[248] = 0; - out_1513223696750910511[249] = 0; - out_1513223696750910511[250] = 0; - out_1513223696750910511[251] = 0; - out_1513223696750910511[252] = 0; - out_1513223696750910511[253] = 0; - out_1513223696750910511[254] = 0; - out_1513223696750910511[255] = 0; - out_1513223696750910511[256] = 0; - out_1513223696750910511[257] = 0; - out_1513223696750910511[258] = 0; - out_1513223696750910511[259] = 0; - out_1513223696750910511[260] = 0; - out_1513223696750910511[261] = 0; - out_1513223696750910511[262] = 0; - out_1513223696750910511[263] = 0; - out_1513223696750910511[264] = 0; - out_1513223696750910511[265] = 0; - out_1513223696750910511[266] = 1; - out_1513223696750910511[267] = 0; - out_1513223696750910511[268] = 0; - out_1513223696750910511[269] = 0; - out_1513223696750910511[270] = 0; - out_1513223696750910511[271] = 0; - out_1513223696750910511[272] = 0; - out_1513223696750910511[273] = 0; - out_1513223696750910511[274] = 0; - out_1513223696750910511[275] = 0; - out_1513223696750910511[276] = 0; - out_1513223696750910511[277] = 0; - out_1513223696750910511[278] = 0; - out_1513223696750910511[279] = 0; - out_1513223696750910511[280] = 0; - out_1513223696750910511[281] = 0; - out_1513223696750910511[282] = 0; - out_1513223696750910511[283] = 0; - out_1513223696750910511[284] = 0; - out_1513223696750910511[285] = 1; - out_1513223696750910511[286] = 0; - out_1513223696750910511[287] = 0; - out_1513223696750910511[288] = 0; - out_1513223696750910511[289] = 0; - out_1513223696750910511[290] = 0; - out_1513223696750910511[291] = 0; - out_1513223696750910511[292] = 0; - out_1513223696750910511[293] = 0; - out_1513223696750910511[294] = 0; - out_1513223696750910511[295] = 0; - out_1513223696750910511[296] = 0; - out_1513223696750910511[297] = 0; - out_1513223696750910511[298] = 0; - out_1513223696750910511[299] = 0; - out_1513223696750910511[300] = 0; - out_1513223696750910511[301] = 0; - out_1513223696750910511[302] = 0; - out_1513223696750910511[303] = 0; - out_1513223696750910511[304] = 1; - out_1513223696750910511[305] = 0; - out_1513223696750910511[306] = 0; - out_1513223696750910511[307] = 0; - out_1513223696750910511[308] = 0; - out_1513223696750910511[309] = 0; - out_1513223696750910511[310] = 0; - out_1513223696750910511[311] = 0; - out_1513223696750910511[312] = 0; - out_1513223696750910511[313] = 0; - out_1513223696750910511[314] = 0; - out_1513223696750910511[315] = 0; - out_1513223696750910511[316] = 0; - out_1513223696750910511[317] = 0; - out_1513223696750910511[318] = 0; - out_1513223696750910511[319] = 0; - out_1513223696750910511[320] = 0; - out_1513223696750910511[321] = 0; - out_1513223696750910511[322] = 0; - out_1513223696750910511[323] = 1; +void F_fun(double *state, double dt, double *out_4173313334813114557) { + out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[2] = 0; + out_4173313334813114557[3] = 0; + out_4173313334813114557[4] = 0; + out_4173313334813114557[5] = 0; + out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[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_4173313334813114557[9] = 0; + out_4173313334813114557[10] = 0; + out_4173313334813114557[11] = 0; + out_4173313334813114557[12] = 0; + out_4173313334813114557[13] = 0; + out_4173313334813114557[14] = 0; + out_4173313334813114557[15] = 0; + out_4173313334813114557[16] = 0; + out_4173313334813114557[17] = 0; + out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[20] = 0; + out_4173313334813114557[21] = 0; + out_4173313334813114557[22] = 0; + out_4173313334813114557[23] = 0; + out_4173313334813114557[24] = 0; + out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[27] = 0; + out_4173313334813114557[28] = 0; + out_4173313334813114557[29] = 0; + out_4173313334813114557[30] = 0; + out_4173313334813114557[31] = 0; + out_4173313334813114557[32] = 0; + out_4173313334813114557[33] = 0; + out_4173313334813114557[34] = 0; + out_4173313334813114557[35] = 0; + out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[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_4173313334813114557[39] = 0; + out_4173313334813114557[40] = 0; + out_4173313334813114557[41] = 0; + out_4173313334813114557[42] = 0; + out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[45] = 0; + out_4173313334813114557[46] = 0; + out_4173313334813114557[47] = 0; + out_4173313334813114557[48] = 0; + out_4173313334813114557[49] = 0; + out_4173313334813114557[50] = 0; + out_4173313334813114557[51] = 0; + out_4173313334813114557[52] = 0; + out_4173313334813114557[53] = 0; + out_4173313334813114557[54] = 0; + out_4173313334813114557[55] = 0; + out_4173313334813114557[56] = 0; + out_4173313334813114557[57] = 1; + out_4173313334813114557[58] = 0; + out_4173313334813114557[59] = 0; + out_4173313334813114557[60] = 0; + out_4173313334813114557[61] = 0; + out_4173313334813114557[62] = 0; + out_4173313334813114557[63] = 0; + out_4173313334813114557[64] = 0; + out_4173313334813114557[65] = 0; + out_4173313334813114557[66] = dt; + out_4173313334813114557[67] = 0; + out_4173313334813114557[68] = 0; + out_4173313334813114557[69] = 0; + out_4173313334813114557[70] = 0; + out_4173313334813114557[71] = 0; + out_4173313334813114557[72] = 0; + out_4173313334813114557[73] = 0; + out_4173313334813114557[74] = 0; + out_4173313334813114557[75] = 0; + out_4173313334813114557[76] = 1; + out_4173313334813114557[77] = 0; + out_4173313334813114557[78] = 0; + out_4173313334813114557[79] = 0; + out_4173313334813114557[80] = 0; + out_4173313334813114557[81] = 0; + out_4173313334813114557[82] = 0; + out_4173313334813114557[83] = 0; + out_4173313334813114557[84] = 0; + out_4173313334813114557[85] = dt; + out_4173313334813114557[86] = 0; + out_4173313334813114557[87] = 0; + out_4173313334813114557[88] = 0; + out_4173313334813114557[89] = 0; + out_4173313334813114557[90] = 0; + out_4173313334813114557[91] = 0; + out_4173313334813114557[92] = 0; + out_4173313334813114557[93] = 0; + out_4173313334813114557[94] = 0; + out_4173313334813114557[95] = 1; + out_4173313334813114557[96] = 0; + out_4173313334813114557[97] = 0; + out_4173313334813114557[98] = 0; + out_4173313334813114557[99] = 0; + out_4173313334813114557[100] = 0; + out_4173313334813114557[101] = 0; + out_4173313334813114557[102] = 0; + out_4173313334813114557[103] = 0; + out_4173313334813114557[104] = dt; + out_4173313334813114557[105] = 0; + out_4173313334813114557[106] = 0; + out_4173313334813114557[107] = 0; + out_4173313334813114557[108] = 0; + out_4173313334813114557[109] = 0; + out_4173313334813114557[110] = 0; + out_4173313334813114557[111] = 0; + out_4173313334813114557[112] = 0; + out_4173313334813114557[113] = 0; + out_4173313334813114557[114] = 1; + out_4173313334813114557[115] = 0; + out_4173313334813114557[116] = 0; + out_4173313334813114557[117] = 0; + out_4173313334813114557[118] = 0; + out_4173313334813114557[119] = 0; + out_4173313334813114557[120] = 0; + out_4173313334813114557[121] = 0; + out_4173313334813114557[122] = 0; + out_4173313334813114557[123] = 0; + out_4173313334813114557[124] = 0; + out_4173313334813114557[125] = 0; + out_4173313334813114557[126] = 0; + out_4173313334813114557[127] = 0; + out_4173313334813114557[128] = 0; + out_4173313334813114557[129] = 0; + out_4173313334813114557[130] = 0; + out_4173313334813114557[131] = 0; + out_4173313334813114557[132] = 0; + out_4173313334813114557[133] = 1; + out_4173313334813114557[134] = 0; + out_4173313334813114557[135] = 0; + out_4173313334813114557[136] = 0; + out_4173313334813114557[137] = 0; + out_4173313334813114557[138] = 0; + out_4173313334813114557[139] = 0; + out_4173313334813114557[140] = 0; + out_4173313334813114557[141] = 0; + out_4173313334813114557[142] = 0; + out_4173313334813114557[143] = 0; + out_4173313334813114557[144] = 0; + out_4173313334813114557[145] = 0; + out_4173313334813114557[146] = 0; + out_4173313334813114557[147] = 0; + out_4173313334813114557[148] = 0; + out_4173313334813114557[149] = 0; + out_4173313334813114557[150] = 0; + out_4173313334813114557[151] = 0; + out_4173313334813114557[152] = 1; + out_4173313334813114557[153] = 0; + out_4173313334813114557[154] = 0; + out_4173313334813114557[155] = 0; + out_4173313334813114557[156] = 0; + out_4173313334813114557[157] = 0; + out_4173313334813114557[158] = 0; + out_4173313334813114557[159] = 0; + out_4173313334813114557[160] = 0; + out_4173313334813114557[161] = 0; + out_4173313334813114557[162] = 0; + out_4173313334813114557[163] = 0; + out_4173313334813114557[164] = 0; + out_4173313334813114557[165] = 0; + out_4173313334813114557[166] = 0; + out_4173313334813114557[167] = 0; + out_4173313334813114557[168] = 0; + out_4173313334813114557[169] = 0; + out_4173313334813114557[170] = 0; + out_4173313334813114557[171] = 1; + out_4173313334813114557[172] = 0; + out_4173313334813114557[173] = 0; + out_4173313334813114557[174] = 0; + out_4173313334813114557[175] = 0; + out_4173313334813114557[176] = 0; + out_4173313334813114557[177] = 0; + out_4173313334813114557[178] = 0; + out_4173313334813114557[179] = 0; + out_4173313334813114557[180] = 0; + out_4173313334813114557[181] = 0; + out_4173313334813114557[182] = 0; + out_4173313334813114557[183] = 0; + out_4173313334813114557[184] = 0; + out_4173313334813114557[185] = 0; + out_4173313334813114557[186] = 0; + out_4173313334813114557[187] = 0; + out_4173313334813114557[188] = 0; + out_4173313334813114557[189] = 0; + out_4173313334813114557[190] = 1; + out_4173313334813114557[191] = 0; + out_4173313334813114557[192] = 0; + out_4173313334813114557[193] = 0; + out_4173313334813114557[194] = 0; + out_4173313334813114557[195] = 0; + out_4173313334813114557[196] = 0; + out_4173313334813114557[197] = 0; + out_4173313334813114557[198] = 0; + out_4173313334813114557[199] = 0; + out_4173313334813114557[200] = 0; + out_4173313334813114557[201] = 0; + out_4173313334813114557[202] = 0; + out_4173313334813114557[203] = 0; + out_4173313334813114557[204] = 0; + out_4173313334813114557[205] = 0; + out_4173313334813114557[206] = 0; + out_4173313334813114557[207] = 0; + out_4173313334813114557[208] = 0; + out_4173313334813114557[209] = 1; + out_4173313334813114557[210] = 0; + out_4173313334813114557[211] = 0; + out_4173313334813114557[212] = 0; + out_4173313334813114557[213] = 0; + out_4173313334813114557[214] = 0; + out_4173313334813114557[215] = 0; + out_4173313334813114557[216] = 0; + out_4173313334813114557[217] = 0; + out_4173313334813114557[218] = 0; + out_4173313334813114557[219] = 0; + out_4173313334813114557[220] = 0; + out_4173313334813114557[221] = 0; + out_4173313334813114557[222] = 0; + out_4173313334813114557[223] = 0; + out_4173313334813114557[224] = 0; + out_4173313334813114557[225] = 0; + out_4173313334813114557[226] = 0; + out_4173313334813114557[227] = 0; + out_4173313334813114557[228] = 1; + out_4173313334813114557[229] = 0; + out_4173313334813114557[230] = 0; + out_4173313334813114557[231] = 0; + out_4173313334813114557[232] = 0; + out_4173313334813114557[233] = 0; + out_4173313334813114557[234] = 0; + out_4173313334813114557[235] = 0; + out_4173313334813114557[236] = 0; + out_4173313334813114557[237] = 0; + out_4173313334813114557[238] = 0; + out_4173313334813114557[239] = 0; + out_4173313334813114557[240] = 0; + out_4173313334813114557[241] = 0; + out_4173313334813114557[242] = 0; + out_4173313334813114557[243] = 0; + out_4173313334813114557[244] = 0; + out_4173313334813114557[245] = 0; + out_4173313334813114557[246] = 0; + out_4173313334813114557[247] = 1; + out_4173313334813114557[248] = 0; + out_4173313334813114557[249] = 0; + out_4173313334813114557[250] = 0; + out_4173313334813114557[251] = 0; + out_4173313334813114557[252] = 0; + out_4173313334813114557[253] = 0; + out_4173313334813114557[254] = 0; + out_4173313334813114557[255] = 0; + out_4173313334813114557[256] = 0; + out_4173313334813114557[257] = 0; + out_4173313334813114557[258] = 0; + out_4173313334813114557[259] = 0; + out_4173313334813114557[260] = 0; + out_4173313334813114557[261] = 0; + out_4173313334813114557[262] = 0; + out_4173313334813114557[263] = 0; + out_4173313334813114557[264] = 0; + out_4173313334813114557[265] = 0; + out_4173313334813114557[266] = 1; + out_4173313334813114557[267] = 0; + out_4173313334813114557[268] = 0; + out_4173313334813114557[269] = 0; + out_4173313334813114557[270] = 0; + out_4173313334813114557[271] = 0; + out_4173313334813114557[272] = 0; + out_4173313334813114557[273] = 0; + out_4173313334813114557[274] = 0; + out_4173313334813114557[275] = 0; + out_4173313334813114557[276] = 0; + out_4173313334813114557[277] = 0; + out_4173313334813114557[278] = 0; + out_4173313334813114557[279] = 0; + out_4173313334813114557[280] = 0; + out_4173313334813114557[281] = 0; + out_4173313334813114557[282] = 0; + out_4173313334813114557[283] = 0; + out_4173313334813114557[284] = 0; + out_4173313334813114557[285] = 1; + out_4173313334813114557[286] = 0; + out_4173313334813114557[287] = 0; + out_4173313334813114557[288] = 0; + out_4173313334813114557[289] = 0; + out_4173313334813114557[290] = 0; + out_4173313334813114557[291] = 0; + out_4173313334813114557[292] = 0; + out_4173313334813114557[293] = 0; + out_4173313334813114557[294] = 0; + out_4173313334813114557[295] = 0; + out_4173313334813114557[296] = 0; + out_4173313334813114557[297] = 0; + out_4173313334813114557[298] = 0; + out_4173313334813114557[299] = 0; + out_4173313334813114557[300] = 0; + out_4173313334813114557[301] = 0; + out_4173313334813114557[302] = 0; + out_4173313334813114557[303] = 0; + out_4173313334813114557[304] = 1; + out_4173313334813114557[305] = 0; + out_4173313334813114557[306] = 0; + out_4173313334813114557[307] = 0; + out_4173313334813114557[308] = 0; + out_4173313334813114557[309] = 0; + out_4173313334813114557[310] = 0; + out_4173313334813114557[311] = 0; + out_4173313334813114557[312] = 0; + out_4173313334813114557[313] = 0; + out_4173313334813114557[314] = 0; + out_4173313334813114557[315] = 0; + out_4173313334813114557[316] = 0; + out_4173313334813114557[317] = 0; + out_4173313334813114557[318] = 0; + out_4173313334813114557[319] = 0; + out_4173313334813114557[320] = 0; + out_4173313334813114557[321] = 0; + out_4173313334813114557[322] = 0; + out_4173313334813114557[323] = 1; } -void h_4(double *state, double *unused, double *out_7543652368314576620) { - out_7543652368314576620[0] = state[6] + state[9]; - out_7543652368314576620[1] = state[7] + state[10]; - out_7543652368314576620[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_8461717180408587044) { + out_8461717180408587044[0] = state[6] + state[9]; + out_8461717180408587044[1] = state[7] + state[10]; + out_8461717180408587044[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_4618386724598144073) { - out_4618386724598144073[0] = 0; - out_4618386724598144073[1] = 0; - out_4618386724598144073[2] = 0; - out_4618386724598144073[3] = 0; - out_4618386724598144073[4] = 0; - out_4618386724598144073[5] = 0; - out_4618386724598144073[6] = 1; - out_4618386724598144073[7] = 0; - out_4618386724598144073[8] = 0; - out_4618386724598144073[9] = 1; - out_4618386724598144073[10] = 0; - out_4618386724598144073[11] = 0; - out_4618386724598144073[12] = 0; - out_4618386724598144073[13] = 0; - out_4618386724598144073[14] = 0; - out_4618386724598144073[15] = 0; - out_4618386724598144073[16] = 0; - out_4618386724598144073[17] = 0; - out_4618386724598144073[18] = 0; - out_4618386724598144073[19] = 0; - out_4618386724598144073[20] = 0; - out_4618386724598144073[21] = 0; - out_4618386724598144073[22] = 0; - out_4618386724598144073[23] = 0; - out_4618386724598144073[24] = 0; - out_4618386724598144073[25] = 1; - out_4618386724598144073[26] = 0; - out_4618386724598144073[27] = 0; - out_4618386724598144073[28] = 1; - out_4618386724598144073[29] = 0; - out_4618386724598144073[30] = 0; - out_4618386724598144073[31] = 0; - out_4618386724598144073[32] = 0; - out_4618386724598144073[33] = 0; - out_4618386724598144073[34] = 0; - out_4618386724598144073[35] = 0; - out_4618386724598144073[36] = 0; - out_4618386724598144073[37] = 0; - out_4618386724598144073[38] = 0; - out_4618386724598144073[39] = 0; - out_4618386724598144073[40] = 0; - out_4618386724598144073[41] = 0; - out_4618386724598144073[42] = 0; - out_4618386724598144073[43] = 0; - out_4618386724598144073[44] = 1; - out_4618386724598144073[45] = 0; - out_4618386724598144073[46] = 0; - out_4618386724598144073[47] = 1; - out_4618386724598144073[48] = 0; - out_4618386724598144073[49] = 0; - out_4618386724598144073[50] = 0; - out_4618386724598144073[51] = 0; - out_4618386724598144073[52] = 0; - out_4618386724598144073[53] = 0; +void H_4(double *state, double *unused, double *out_2172840103804638259) { + out_2172840103804638259[0] = 0; + out_2172840103804638259[1] = 0; + out_2172840103804638259[2] = 0; + out_2172840103804638259[3] = 0; + out_2172840103804638259[4] = 0; + out_2172840103804638259[5] = 0; + out_2172840103804638259[6] = 1; + out_2172840103804638259[7] = 0; + out_2172840103804638259[8] = 0; + out_2172840103804638259[9] = 1; + out_2172840103804638259[10] = 0; + out_2172840103804638259[11] = 0; + out_2172840103804638259[12] = 0; + out_2172840103804638259[13] = 0; + out_2172840103804638259[14] = 0; + out_2172840103804638259[15] = 0; + out_2172840103804638259[16] = 0; + out_2172840103804638259[17] = 0; + out_2172840103804638259[18] = 0; + out_2172840103804638259[19] = 0; + out_2172840103804638259[20] = 0; + out_2172840103804638259[21] = 0; + out_2172840103804638259[22] = 0; + out_2172840103804638259[23] = 0; + out_2172840103804638259[24] = 0; + out_2172840103804638259[25] = 1; + out_2172840103804638259[26] = 0; + out_2172840103804638259[27] = 0; + out_2172840103804638259[28] = 1; + out_2172840103804638259[29] = 0; + out_2172840103804638259[30] = 0; + out_2172840103804638259[31] = 0; + out_2172840103804638259[32] = 0; + out_2172840103804638259[33] = 0; + out_2172840103804638259[34] = 0; + out_2172840103804638259[35] = 0; + out_2172840103804638259[36] = 0; + out_2172840103804638259[37] = 0; + out_2172840103804638259[38] = 0; + out_2172840103804638259[39] = 0; + out_2172840103804638259[40] = 0; + out_2172840103804638259[41] = 0; + out_2172840103804638259[42] = 0; + out_2172840103804638259[43] = 0; + out_2172840103804638259[44] = 1; + out_2172840103804638259[45] = 0; + out_2172840103804638259[46] = 0; + out_2172840103804638259[47] = 1; + out_2172840103804638259[48] = 0; + out_2172840103804638259[49] = 0; + out_2172840103804638259[50] = 0; + out_2172840103804638259[51] = 0; + out_2172840103804638259[52] = 0; + out_2172840103804638259[53] = 0; } -void h_10(double *state, double *unused, double *out_1260309873169513594) { - out_1260309873169513594[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1260309873169513594[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1260309873169513594[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_2633265206766799101) { + out_2633265206766799101[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2633265206766799101[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2633265206766799101[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_3724360775848728158) { - out_3724360775848728158[0] = 0; - out_3724360775848728158[1] = 9.8100000000000005*cos(state[1]); - out_3724360775848728158[2] = 0; - out_3724360775848728158[3] = 0; - out_3724360775848728158[4] = -state[8]; - out_3724360775848728158[5] = state[7]; - out_3724360775848728158[6] = 0; - out_3724360775848728158[7] = state[5]; - out_3724360775848728158[8] = -state[4]; - out_3724360775848728158[9] = 0; - out_3724360775848728158[10] = 0; - out_3724360775848728158[11] = 0; - out_3724360775848728158[12] = 1; - out_3724360775848728158[13] = 0; - out_3724360775848728158[14] = 0; - out_3724360775848728158[15] = 1; - out_3724360775848728158[16] = 0; - out_3724360775848728158[17] = 0; - out_3724360775848728158[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3724360775848728158[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3724360775848728158[20] = 0; - out_3724360775848728158[21] = state[8]; - out_3724360775848728158[22] = 0; - out_3724360775848728158[23] = -state[6]; - out_3724360775848728158[24] = -state[5]; - out_3724360775848728158[25] = 0; - out_3724360775848728158[26] = state[3]; - out_3724360775848728158[27] = 0; - out_3724360775848728158[28] = 0; - out_3724360775848728158[29] = 0; - out_3724360775848728158[30] = 0; - out_3724360775848728158[31] = 1; - out_3724360775848728158[32] = 0; - out_3724360775848728158[33] = 0; - out_3724360775848728158[34] = 1; - out_3724360775848728158[35] = 0; - out_3724360775848728158[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3724360775848728158[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3724360775848728158[38] = 0; - out_3724360775848728158[39] = -state[7]; - out_3724360775848728158[40] = state[6]; - out_3724360775848728158[41] = 0; - out_3724360775848728158[42] = state[4]; - out_3724360775848728158[43] = -state[3]; - out_3724360775848728158[44] = 0; - out_3724360775848728158[45] = 0; - out_3724360775848728158[46] = 0; - out_3724360775848728158[47] = 0; - out_3724360775848728158[48] = 0; - out_3724360775848728158[49] = 0; - out_3724360775848728158[50] = 1; - out_3724360775848728158[51] = 0; - out_3724360775848728158[52] = 0; - out_3724360775848728158[53] = 1; +void H_10(double *state, double *unused, double *out_3904041767468690216) { + out_3904041767468690216[0] = 0; + out_3904041767468690216[1] = 9.8100000000000005*cos(state[1]); + out_3904041767468690216[2] = 0; + out_3904041767468690216[3] = 0; + out_3904041767468690216[4] = -state[8]; + out_3904041767468690216[5] = state[7]; + out_3904041767468690216[6] = 0; + out_3904041767468690216[7] = state[5]; + out_3904041767468690216[8] = -state[4]; + out_3904041767468690216[9] = 0; + out_3904041767468690216[10] = 0; + out_3904041767468690216[11] = 0; + out_3904041767468690216[12] = 1; + out_3904041767468690216[13] = 0; + out_3904041767468690216[14] = 0; + out_3904041767468690216[15] = 1; + out_3904041767468690216[16] = 0; + out_3904041767468690216[17] = 0; + out_3904041767468690216[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3904041767468690216[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3904041767468690216[20] = 0; + out_3904041767468690216[21] = state[8]; + out_3904041767468690216[22] = 0; + out_3904041767468690216[23] = -state[6]; + out_3904041767468690216[24] = -state[5]; + out_3904041767468690216[25] = 0; + out_3904041767468690216[26] = state[3]; + out_3904041767468690216[27] = 0; + out_3904041767468690216[28] = 0; + out_3904041767468690216[29] = 0; + out_3904041767468690216[30] = 0; + out_3904041767468690216[31] = 1; + out_3904041767468690216[32] = 0; + out_3904041767468690216[33] = 0; + out_3904041767468690216[34] = 1; + out_3904041767468690216[35] = 0; + out_3904041767468690216[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3904041767468690216[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3904041767468690216[38] = 0; + out_3904041767468690216[39] = -state[7]; + out_3904041767468690216[40] = state[6]; + out_3904041767468690216[41] = 0; + out_3904041767468690216[42] = state[4]; + out_3904041767468690216[43] = -state[3]; + out_3904041767468690216[44] = 0; + out_3904041767468690216[45] = 0; + out_3904041767468690216[46] = 0; + out_3904041767468690216[47] = 0; + out_3904041767468690216[48] = 0; + out_3904041767468690216[49] = 0; + out_3904041767468690216[50] = 1; + out_3904041767468690216[51] = 0; + out_3904041767468690216[52] = 0; + out_3904041767468690216[53] = 1; } -void h_13(double *state, double *unused, double *out_7136718217250129115) { - out_7136718217250129115[0] = state[3]; - out_7136718217250129115[1] = state[4]; - out_7136718217250129115[2] = state[5]; +void h_13(double *state, double *unused, double *out_3680645971147336893) { + out_3680645971147336893[0] = state[3]; + out_3680645971147336893[1] = state[4]; + out_3680645971147336893[2] = state[5]; } -void H_13(double *state, double *unused, double *out_7830660549930476874) { - out_7830660549930476874[0] = 0; - out_7830660549930476874[1] = 0; - out_7830660549930476874[2] = 0; - out_7830660549930476874[3] = 1; - out_7830660549930476874[4] = 0; - out_7830660549930476874[5] = 0; - out_7830660549930476874[6] = 0; - out_7830660549930476874[7] = 0; - out_7830660549930476874[8] = 0; - out_7830660549930476874[9] = 0; - out_7830660549930476874[10] = 0; - out_7830660549930476874[11] = 0; - out_7830660549930476874[12] = 0; - out_7830660549930476874[13] = 0; - out_7830660549930476874[14] = 0; - out_7830660549930476874[15] = 0; - out_7830660549930476874[16] = 0; - out_7830660549930476874[17] = 0; - out_7830660549930476874[18] = 0; - out_7830660549930476874[19] = 0; - out_7830660549930476874[20] = 0; - out_7830660549930476874[21] = 0; - out_7830660549930476874[22] = 1; - out_7830660549930476874[23] = 0; - out_7830660549930476874[24] = 0; - out_7830660549930476874[25] = 0; - out_7830660549930476874[26] = 0; - out_7830660549930476874[27] = 0; - out_7830660549930476874[28] = 0; - out_7830660549930476874[29] = 0; - out_7830660549930476874[30] = 0; - out_7830660549930476874[31] = 0; - out_7830660549930476874[32] = 0; - out_7830660549930476874[33] = 0; - out_7830660549930476874[34] = 0; - out_7830660549930476874[35] = 0; - out_7830660549930476874[36] = 0; - out_7830660549930476874[37] = 0; - out_7830660549930476874[38] = 0; - out_7830660549930476874[39] = 0; - out_7830660549930476874[40] = 0; - out_7830660549930476874[41] = 1; - out_7830660549930476874[42] = 0; - out_7830660549930476874[43] = 0; - out_7830660549930476874[44] = 0; - out_7830660549930476874[45] = 0; - out_7830660549930476874[46] = 0; - out_7830660549930476874[47] = 0; - out_7830660549930476874[48] = 0; - out_7830660549930476874[49] = 0; - out_7830660549930476874[50] = 0; - out_7830660549930476874[51] = 0; - out_7830660549930476874[52] = 0; - out_7830660549930476874[53] = 0; +void H_13(double *state, double *unused, double *out_5385113929136971060) { + out_5385113929136971060[0] = 0; + out_5385113929136971060[1] = 0; + out_5385113929136971060[2] = 0; + out_5385113929136971060[3] = 1; + out_5385113929136971060[4] = 0; + out_5385113929136971060[5] = 0; + out_5385113929136971060[6] = 0; + out_5385113929136971060[7] = 0; + out_5385113929136971060[8] = 0; + out_5385113929136971060[9] = 0; + out_5385113929136971060[10] = 0; + out_5385113929136971060[11] = 0; + out_5385113929136971060[12] = 0; + out_5385113929136971060[13] = 0; + out_5385113929136971060[14] = 0; + out_5385113929136971060[15] = 0; + out_5385113929136971060[16] = 0; + out_5385113929136971060[17] = 0; + out_5385113929136971060[18] = 0; + out_5385113929136971060[19] = 0; + out_5385113929136971060[20] = 0; + out_5385113929136971060[21] = 0; + out_5385113929136971060[22] = 1; + out_5385113929136971060[23] = 0; + out_5385113929136971060[24] = 0; + out_5385113929136971060[25] = 0; + out_5385113929136971060[26] = 0; + out_5385113929136971060[27] = 0; + out_5385113929136971060[28] = 0; + out_5385113929136971060[29] = 0; + out_5385113929136971060[30] = 0; + out_5385113929136971060[31] = 0; + out_5385113929136971060[32] = 0; + out_5385113929136971060[33] = 0; + out_5385113929136971060[34] = 0; + out_5385113929136971060[35] = 0; + out_5385113929136971060[36] = 0; + out_5385113929136971060[37] = 0; + out_5385113929136971060[38] = 0; + out_5385113929136971060[39] = 0; + out_5385113929136971060[40] = 0; + out_5385113929136971060[41] = 1; + out_5385113929136971060[42] = 0; + out_5385113929136971060[43] = 0; + out_5385113929136971060[44] = 0; + out_5385113929136971060[45] = 0; + out_5385113929136971060[46] = 0; + out_5385113929136971060[47] = 0; + out_5385113929136971060[48] = 0; + out_5385113929136971060[49] = 0; + out_5385113929136971060[50] = 0; + out_5385113929136971060[51] = 0; + out_5385113929136971060[52] = 0; + out_5385113929136971060[53] = 0; } -void h_14(double *state, double *unused, double *out_5010661569828504853) { - out_5010661569828504853[0] = state[6]; - out_5010661569828504853[1] = state[7]; - out_5010661569828504853[2] = state[8]; +void h_14(double *state, double *unused, double *out_5848550976228580590) { + out_5848550976228580590[0] = state[6]; + out_5848550976228580590[1] = state[7]; + out_5848550976228580590[2] = state[8]; } -void H_14(double *state, double *unused, double *out_8581627580937628602) { - out_8581627580937628602[0] = 0; - out_8581627580937628602[1] = 0; - out_8581627580937628602[2] = 0; - out_8581627580937628602[3] = 0; - out_8581627580937628602[4] = 0; - out_8581627580937628602[5] = 0; - out_8581627580937628602[6] = 1; - out_8581627580937628602[7] = 0; - out_8581627580937628602[8] = 0; - out_8581627580937628602[9] = 0; - out_8581627580937628602[10] = 0; - out_8581627580937628602[11] = 0; - out_8581627580937628602[12] = 0; - out_8581627580937628602[13] = 0; - out_8581627580937628602[14] = 0; - out_8581627580937628602[15] = 0; - out_8581627580937628602[16] = 0; - out_8581627580937628602[17] = 0; - out_8581627580937628602[18] = 0; - out_8581627580937628602[19] = 0; - out_8581627580937628602[20] = 0; - out_8581627580937628602[21] = 0; - out_8581627580937628602[22] = 0; - out_8581627580937628602[23] = 0; - out_8581627580937628602[24] = 0; - out_8581627580937628602[25] = 1; - out_8581627580937628602[26] = 0; - out_8581627580937628602[27] = 0; - out_8581627580937628602[28] = 0; - out_8581627580937628602[29] = 0; - out_8581627580937628602[30] = 0; - out_8581627580937628602[31] = 0; - out_8581627580937628602[32] = 0; - out_8581627580937628602[33] = 0; - out_8581627580937628602[34] = 0; - out_8581627580937628602[35] = 0; - out_8581627580937628602[36] = 0; - out_8581627580937628602[37] = 0; - out_8581627580937628602[38] = 0; - out_8581627580937628602[39] = 0; - out_8581627580937628602[40] = 0; - out_8581627580937628602[41] = 0; - out_8581627580937628602[42] = 0; - out_8581627580937628602[43] = 0; - out_8581627580937628602[44] = 1; - out_8581627580937628602[45] = 0; - out_8581627580937628602[46] = 0; - out_8581627580937628602[47] = 0; - out_8581627580937628602[48] = 0; - out_8581627580937628602[49] = 0; - out_8581627580937628602[50] = 0; - out_8581627580937628602[51] = 0; - out_8581627580937628602[52] = 0; - out_8581627580937628602[53] = 0; +void H_14(double *state, double *unused, double *out_909948328490734037) { + out_909948328490734037[0] = 0; + out_909948328490734037[1] = 0; + out_909948328490734037[2] = 0; + out_909948328490734037[3] = 0; + out_909948328490734037[4] = 0; + out_909948328490734037[5] = 0; + out_909948328490734037[6] = 1; + out_909948328490734037[7] = 0; + out_909948328490734037[8] = 0; + out_909948328490734037[9] = 0; + out_909948328490734037[10] = 0; + out_909948328490734037[11] = 0; + out_909948328490734037[12] = 0; + out_909948328490734037[13] = 0; + out_909948328490734037[14] = 0; + out_909948328490734037[15] = 0; + out_909948328490734037[16] = 0; + out_909948328490734037[17] = 0; + out_909948328490734037[18] = 0; + out_909948328490734037[19] = 0; + out_909948328490734037[20] = 0; + out_909948328490734037[21] = 0; + out_909948328490734037[22] = 0; + out_909948328490734037[23] = 0; + out_909948328490734037[24] = 0; + out_909948328490734037[25] = 1; + out_909948328490734037[26] = 0; + out_909948328490734037[27] = 0; + out_909948328490734037[28] = 0; + out_909948328490734037[29] = 0; + out_909948328490734037[30] = 0; + out_909948328490734037[31] = 0; + out_909948328490734037[32] = 0; + out_909948328490734037[33] = 0; + out_909948328490734037[34] = 0; + out_909948328490734037[35] = 0; + out_909948328490734037[36] = 0; + out_909948328490734037[37] = 0; + out_909948328490734037[38] = 0; + out_909948328490734037[39] = 0; + out_909948328490734037[40] = 0; + out_909948328490734037[41] = 0; + out_909948328490734037[42] = 0; + out_909948328490734037[43] = 0; + out_909948328490734037[44] = 1; + out_909948328490734037[45] = 0; + out_909948328490734037[46] = 0; + out_909948328490734037[47] = 0; + out_909948328490734037[48] = 0; + out_909948328490734037[49] = 0; + out_909948328490734037[50] = 0; + out_909948328490734037[51] = 0; + out_909948328490734037[52] = 0; + out_909948328490734037[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_7636423458425794019) { - err_fun(nom_x, delta_x, out_7636423458425794019); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2550502777521953992) { + err_fun(nom_x, delta_x, out_2550502777521953992); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4233815579108349573) { - inv_err_fun(nom_x, true_x, out_4233815579108349573); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2991013798952875835) { + inv_err_fun(nom_x, true_x, out_2991013798952875835); } -void pose_H_mod_fun(double *state, double *out_534131660440936662) { - H_mod_fun(state, out_534131660440936662); +void pose_H_mod_fun(double *state, double *out_3992538829710935120) { + H_mod_fun(state, out_3992538829710935120); } -void pose_f_fun(double *state, double dt, double *out_2390572541081456385) { - f_fun(state, dt, out_2390572541081456385); +void pose_f_fun(double *state, double dt, double *out_8224128290291442758) { + f_fun(state, dt, out_8224128290291442758); } -void pose_F_fun(double *state, double dt, double *out_1513223696750910511) { - F_fun(state, dt, out_1513223696750910511); +void pose_F_fun(double *state, double dt, double *out_4173313334813114557) { + F_fun(state, dt, out_4173313334813114557); } -void pose_h_4(double *state, double *unused, double *out_7543652368314576620) { - h_4(state, unused, out_7543652368314576620); +void pose_h_4(double *state, double *unused, double *out_8461717180408587044) { + h_4(state, unused, out_8461717180408587044); } -void pose_H_4(double *state, double *unused, double *out_4618386724598144073) { - H_4(state, unused, out_4618386724598144073); +void pose_H_4(double *state, double *unused, double *out_2172840103804638259) { + H_4(state, unused, out_2172840103804638259); } -void pose_h_10(double *state, double *unused, double *out_1260309873169513594) { - h_10(state, unused, out_1260309873169513594); +void pose_h_10(double *state, double *unused, double *out_2633265206766799101) { + h_10(state, unused, out_2633265206766799101); } -void pose_H_10(double *state, double *unused, double *out_3724360775848728158) { - H_10(state, unused, out_3724360775848728158); +void pose_H_10(double *state, double *unused, double *out_3904041767468690216) { + H_10(state, unused, out_3904041767468690216); } -void pose_h_13(double *state, double *unused, double *out_7136718217250129115) { - h_13(state, unused, out_7136718217250129115); +void pose_h_13(double *state, double *unused, double *out_3680645971147336893) { + h_13(state, unused, out_3680645971147336893); } -void pose_H_13(double *state, double *unused, double *out_7830660549930476874) { - H_13(state, unused, out_7830660549930476874); +void pose_H_13(double *state, double *unused, double *out_5385113929136971060) { + H_13(state, unused, out_5385113929136971060); } -void pose_h_14(double *state, double *unused, double *out_5010661569828504853) { - h_14(state, unused, out_5010661569828504853); +void pose_h_14(double *state, double *unused, double *out_5848550976228580590) { + h_14(state, unused, out_5848550976228580590); } -void pose_H_14(double *state, double *unused, double *out_8581627580937628602) { - H_14(state, unused, out_8581627580937628602); +void pose_H_14(double *state, double *unused, double *out_909948328490734037) { + H_14(state, unused, out_909948328490734037); } 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 0d142e792..6c2900bad 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_7636423458425794019); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4233815579108349573); -void pose_H_mod_fun(double *state, double *out_534131660440936662); -void pose_f_fun(double *state, double dt, double *out_2390572541081456385); -void pose_F_fun(double *state, double dt, double *out_1513223696750910511); -void pose_h_4(double *state, double *unused, double *out_7543652368314576620); -void pose_H_4(double *state, double *unused, double *out_4618386724598144073); -void pose_h_10(double *state, double *unused, double *out_1260309873169513594); -void pose_H_10(double *state, double *unused, double *out_3724360775848728158); -void pose_h_13(double *state, double *unused, double *out_7136718217250129115); -void pose_H_13(double *state, double *unused, double *out_7830660549930476874); -void pose_h_14(double *state, double *unused, double *out_5010661569828504853); -void pose_H_14(double *state, double *unused, double *out_8581627580937628602); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2550502777521953992); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2991013798952875835); +void pose_H_mod_fun(double *state, double *out_3992538829710935120); +void pose_f_fun(double *state, double dt, double *out_8224128290291442758); +void pose_F_fun(double *state, double dt, double *out_4173313334813114557); +void pose_h_4(double *state, double *unused, double *out_8461717180408587044); +void pose_H_4(double *state, double *unused, double *out_2172840103804638259); +void pose_h_10(double *state, double *unused, double *out_2633265206766799101); +void pose_H_10(double *state, double *unused, double *out_3904041767468690216); +void pose_h_13(double *state, double *unused, double *out_3680645971147336893); +void pose_H_13(double *state, double *unused, double *out_5385113929136971060); +void pose_h_14(double *state, double *unused, double *out_5848550976228580590); +void pose_H_14(double *state, double *unused, double *out_909948328490734037); 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 a656b5c65..10df21213 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 6de288169..8e1b4588c 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 20a030908..29be30341 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index c3a374665..550d8bb3a 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 4f1739ecb..6bdb7f22f 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 635c46132..0ce1c5d1a 100755 Binary files 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