diff --git a/cereal/libcereal.a b/cereal/libcereal.a index a64ffab17..ae1d18be1 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/common/libcommon.a b/common/libcommon.a index 35b5b51c6..47bf42a24 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index 95f141eec..3cfe62359 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index ae2af9294..44017ea02 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 81bc5eb02..d39c658c6 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index c9f7fa166..8617b7534 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 83f593f36..6fa241e28 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index de6fcdf52..a79822665 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 7ed7b9596..7d4f7bc6e 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index 7ed7b9596..7d4f7bc6e 100755 Binary files a/panda/board/obj/bootstub.panda_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 322aeaa1d..ad6cf2638 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index 322aeaa1d..ad6cf2638 100755 Binary files a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index 322aeaa1d..ad6cf2638 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index 322aeaa1d..ad6cf2638 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 322aeaa1d..ad6cf2638 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 322aeaa1d..ad6cf2638 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 7ed7b9596..7d4f7bc6e 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 7ed7b9596..7d4f7bc6e 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 0e4fa3992..81bbc10b5 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 7ed7b9596..7d4f7bc6e 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 7ed7b9596..7d4f7bc6e 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 175285eee..09eb54a3f 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-f57a7f36-DEBUG"; +const uint8_t gitversion[19] = "DEV-526f8e00-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index b764d32c5..19cf2c0d0 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 4ab861622..a1b9b8be6 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 745922a87..0901f8b1c 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index f9035a7d0..cec4994ca 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index cde46fd75..556954240 100644 Binary files a/panda/board/obj/panda_can_ignition_only.bin.signed and b/panda/board/obj/panda_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_can_ignition_only/bootstub.elf b/panda/board/obj/panda_can_ignition_only/bootstub.elf index dd46dd860..a352cfb76 100755 Binary files a/panda/board/obj/panda_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_can_ignition_only/main.bin b/panda/board/obj/panda_can_ignition_only/main.bin index b3c3bfabf..8a2dbb5a5 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.bin and b/panda/board/obj/panda_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_can_ignition_only/main.elf b/panda/board/obj/panda_can_ignition_only/main.elf index 45162bd0f..0c83baa30 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.elf and b/panda/board/obj/panda_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 0893734f1..6ac081faf 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index fa21967dc..8b77881be 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 148bafadc..488197edd 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 6429ae546..ef96b827f 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_can_ignition_only.bin.signed index 4eaccb866..b34c2c061 100644 Binary files a/panda/board/obj/panda_h7_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf index ff9c9d4f9..a0958c732 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.bin b/panda/board/obj/panda_h7_can_ignition_only/main.bin index aeb5f8577..fa714e8f3 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.elf b/panda/board/obj/panda_h7_can_ignition_only/main.elf index a9d3c510d..6ed349592 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote.bin.signed b/panda/board/obj/panda_h7_hkg_remote.bin.signed index 140d0fd20..54f3eb15c 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote.bin.signed and b/panda/board/obj/panda_h7_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf index e0eb2d7f9..dff04c199 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.bin b/panda/board/obj/panda_h7_hkg_remote/main.bin index d12ac9c85..e6546d4de 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.bin and b/panda/board/obj/panda_h7_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.elf b/panda/board/obj/panda_h7_hkg_remote/main.elf index d86666a54..b39b6f5a3 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.elf and b/panda/board/obj/panda_h7_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed index 400a7ff70..ff2a599d9 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf index a9617f35a..0fdb50772 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin index 3ccae6d07..2a27eb738 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf index 50dec69c8..cd7e8736f 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index e5738df6b..278b646c7 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 4fd27dcef..83314aac8 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 9cc47164f..8a66b30ad 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index c53c90710..81998c2bc 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed index e627d3b7a..505bc0ead 100644 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf index 9d1b86802..5caa029d3 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin index b29484baf..5686e05d7 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf index 4b66cb9c2..5662d12c6 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote.bin.signed b/panda/board/obj/panda_hkg_remote.bin.signed index b03a5c31d..39f24e3c7 100644 Binary files a/panda/board/obj/panda_hkg_remote.bin.signed and b/panda/board/obj/panda_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote/bootstub.elf b/panda/board/obj/panda_hkg_remote/bootstub.elf index a8aed5768..ae033f702 100755 Binary files a/panda/board/obj/panda_hkg_remote/bootstub.elf and b/panda/board/obj/panda_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote/main.bin b/panda/board/obj/panda_hkg_remote/main.bin index 403dab23c..083eb73b7 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.bin and b/panda/board/obj/panda_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote/main.elf b/panda/board/obj/panda_hkg_remote/main.elf index 0c3a0821f..4a17ac56c 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.elf and b/panda/board/obj/panda_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed index ddda8a6a4..f660f1c5f 100644 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf index c548e8bdc..b2bcb619b 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin index de6f0ac61..942e1fbb0 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf index 37b9af4a0..4a9781f7a 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index add10e0ed..9d155b024 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index a4097bf6f..8db8def7b 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index fae012c6b..99ea3d30c 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 80c80ce98..4543d7759 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 7c95b6f1a..eba7ddcd4 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index dd1d05b15..b3f416bb0 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index b1288e0b9..49657f5a0 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 0f8d94a25..22d231dcc 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index 583174396..ee24f2c2c 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index ad9e5251c..3c643801c 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 3e42823a7..33df5a6f8 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 25072dc69..20fa5fd5f 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 762474c75..013cc721b 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-f57a7f36-DEBUG \ No newline at end of file +DEV-526f8e00-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2a7e9970d..ebc7777ce 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_3239626159248919555) { - out_3239626159248919555[0] = delta_x[0] + nom_x[0]; - out_3239626159248919555[1] = delta_x[1] + nom_x[1]; - out_3239626159248919555[2] = delta_x[2] + nom_x[2]; - out_3239626159248919555[3] = delta_x[3] + nom_x[3]; - out_3239626159248919555[4] = delta_x[4] + nom_x[4]; - out_3239626159248919555[5] = delta_x[5] + nom_x[5]; - out_3239626159248919555[6] = delta_x[6] + nom_x[6]; - out_3239626159248919555[7] = delta_x[7] + nom_x[7]; - out_3239626159248919555[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_4175267327343220067) { + out_4175267327343220067[0] = delta_x[0] + nom_x[0]; + out_4175267327343220067[1] = delta_x[1] + nom_x[1]; + out_4175267327343220067[2] = delta_x[2] + nom_x[2]; + out_4175267327343220067[3] = delta_x[3] + nom_x[3]; + out_4175267327343220067[4] = delta_x[4] + nom_x[4]; + out_4175267327343220067[5] = delta_x[5] + nom_x[5]; + out_4175267327343220067[6] = delta_x[6] + nom_x[6]; + out_4175267327343220067[7] = delta_x[7] + nom_x[7]; + out_4175267327343220067[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837) { - out_7776805117874316837[0] = -nom_x[0] + true_x[0]; - out_7776805117874316837[1] = -nom_x[1] + true_x[1]; - out_7776805117874316837[2] = -nom_x[2] + true_x[2]; - out_7776805117874316837[3] = -nom_x[3] + true_x[3]; - out_7776805117874316837[4] = -nom_x[4] + true_x[4]; - out_7776805117874316837[5] = -nom_x[5] + true_x[5]; - out_7776805117874316837[6] = -nom_x[6] + true_x[6]; - out_7776805117874316837[7] = -nom_x[7] + true_x[7]; - out_7776805117874316837[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298) { + out_8001717605441520298[0] = -nom_x[0] + true_x[0]; + out_8001717605441520298[1] = -nom_x[1] + true_x[1]; + out_8001717605441520298[2] = -nom_x[2] + true_x[2]; + out_8001717605441520298[3] = -nom_x[3] + true_x[3]; + out_8001717605441520298[4] = -nom_x[4] + true_x[4]; + out_8001717605441520298[5] = -nom_x[5] + true_x[5]; + out_8001717605441520298[6] = -nom_x[6] + true_x[6]; + out_8001717605441520298[7] = -nom_x[7] + true_x[7]; + out_8001717605441520298[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_857826347354799703) { - out_857826347354799703[0] = 1.0; - out_857826347354799703[1] = 0.0; - out_857826347354799703[2] = 0.0; - out_857826347354799703[3] = 0.0; - out_857826347354799703[4] = 0.0; - out_857826347354799703[5] = 0.0; - out_857826347354799703[6] = 0.0; - out_857826347354799703[7] = 0.0; - out_857826347354799703[8] = 0.0; - out_857826347354799703[9] = 0.0; - out_857826347354799703[10] = 1.0; - out_857826347354799703[11] = 0.0; - out_857826347354799703[12] = 0.0; - out_857826347354799703[13] = 0.0; - out_857826347354799703[14] = 0.0; - out_857826347354799703[15] = 0.0; - out_857826347354799703[16] = 0.0; - out_857826347354799703[17] = 0.0; - out_857826347354799703[18] = 0.0; - out_857826347354799703[19] = 0.0; - out_857826347354799703[20] = 1.0; - out_857826347354799703[21] = 0.0; - out_857826347354799703[22] = 0.0; - out_857826347354799703[23] = 0.0; - out_857826347354799703[24] = 0.0; - out_857826347354799703[25] = 0.0; - out_857826347354799703[26] = 0.0; - out_857826347354799703[27] = 0.0; - out_857826347354799703[28] = 0.0; - out_857826347354799703[29] = 0.0; - out_857826347354799703[30] = 1.0; - out_857826347354799703[31] = 0.0; - out_857826347354799703[32] = 0.0; - out_857826347354799703[33] = 0.0; - out_857826347354799703[34] = 0.0; - out_857826347354799703[35] = 0.0; - out_857826347354799703[36] = 0.0; - out_857826347354799703[37] = 0.0; - out_857826347354799703[38] = 0.0; - out_857826347354799703[39] = 0.0; - out_857826347354799703[40] = 1.0; - out_857826347354799703[41] = 0.0; - out_857826347354799703[42] = 0.0; - out_857826347354799703[43] = 0.0; - out_857826347354799703[44] = 0.0; - out_857826347354799703[45] = 0.0; - out_857826347354799703[46] = 0.0; - out_857826347354799703[47] = 0.0; - out_857826347354799703[48] = 0.0; - out_857826347354799703[49] = 0.0; - out_857826347354799703[50] = 1.0; - out_857826347354799703[51] = 0.0; - out_857826347354799703[52] = 0.0; - out_857826347354799703[53] = 0.0; - out_857826347354799703[54] = 0.0; - out_857826347354799703[55] = 0.0; - out_857826347354799703[56] = 0.0; - out_857826347354799703[57] = 0.0; - out_857826347354799703[58] = 0.0; - out_857826347354799703[59] = 0.0; - out_857826347354799703[60] = 1.0; - out_857826347354799703[61] = 0.0; - out_857826347354799703[62] = 0.0; - out_857826347354799703[63] = 0.0; - out_857826347354799703[64] = 0.0; - out_857826347354799703[65] = 0.0; - out_857826347354799703[66] = 0.0; - out_857826347354799703[67] = 0.0; - out_857826347354799703[68] = 0.0; - out_857826347354799703[69] = 0.0; - out_857826347354799703[70] = 1.0; - out_857826347354799703[71] = 0.0; - out_857826347354799703[72] = 0.0; - out_857826347354799703[73] = 0.0; - out_857826347354799703[74] = 0.0; - out_857826347354799703[75] = 0.0; - out_857826347354799703[76] = 0.0; - out_857826347354799703[77] = 0.0; - out_857826347354799703[78] = 0.0; - out_857826347354799703[79] = 0.0; - out_857826347354799703[80] = 1.0; +void H_mod_fun(double *state, double *out_7971983971871194008) { + out_7971983971871194008[0] = 1.0; + out_7971983971871194008[1] = 0.0; + out_7971983971871194008[2] = 0.0; + out_7971983971871194008[3] = 0.0; + out_7971983971871194008[4] = 0.0; + out_7971983971871194008[5] = 0.0; + out_7971983971871194008[6] = 0.0; + out_7971983971871194008[7] = 0.0; + out_7971983971871194008[8] = 0.0; + out_7971983971871194008[9] = 0.0; + out_7971983971871194008[10] = 1.0; + out_7971983971871194008[11] = 0.0; + out_7971983971871194008[12] = 0.0; + out_7971983971871194008[13] = 0.0; + out_7971983971871194008[14] = 0.0; + out_7971983971871194008[15] = 0.0; + out_7971983971871194008[16] = 0.0; + out_7971983971871194008[17] = 0.0; + out_7971983971871194008[18] = 0.0; + out_7971983971871194008[19] = 0.0; + out_7971983971871194008[20] = 1.0; + out_7971983971871194008[21] = 0.0; + out_7971983971871194008[22] = 0.0; + out_7971983971871194008[23] = 0.0; + out_7971983971871194008[24] = 0.0; + out_7971983971871194008[25] = 0.0; + out_7971983971871194008[26] = 0.0; + out_7971983971871194008[27] = 0.0; + out_7971983971871194008[28] = 0.0; + out_7971983971871194008[29] = 0.0; + out_7971983971871194008[30] = 1.0; + out_7971983971871194008[31] = 0.0; + out_7971983971871194008[32] = 0.0; + out_7971983971871194008[33] = 0.0; + out_7971983971871194008[34] = 0.0; + out_7971983971871194008[35] = 0.0; + out_7971983971871194008[36] = 0.0; + out_7971983971871194008[37] = 0.0; + out_7971983971871194008[38] = 0.0; + out_7971983971871194008[39] = 0.0; + out_7971983971871194008[40] = 1.0; + out_7971983971871194008[41] = 0.0; + out_7971983971871194008[42] = 0.0; + out_7971983971871194008[43] = 0.0; + out_7971983971871194008[44] = 0.0; + out_7971983971871194008[45] = 0.0; + out_7971983971871194008[46] = 0.0; + out_7971983971871194008[47] = 0.0; + out_7971983971871194008[48] = 0.0; + out_7971983971871194008[49] = 0.0; + out_7971983971871194008[50] = 1.0; + out_7971983971871194008[51] = 0.0; + out_7971983971871194008[52] = 0.0; + out_7971983971871194008[53] = 0.0; + out_7971983971871194008[54] = 0.0; + out_7971983971871194008[55] = 0.0; + out_7971983971871194008[56] = 0.0; + out_7971983971871194008[57] = 0.0; + out_7971983971871194008[58] = 0.0; + out_7971983971871194008[59] = 0.0; + out_7971983971871194008[60] = 1.0; + out_7971983971871194008[61] = 0.0; + out_7971983971871194008[62] = 0.0; + out_7971983971871194008[63] = 0.0; + out_7971983971871194008[64] = 0.0; + out_7971983971871194008[65] = 0.0; + out_7971983971871194008[66] = 0.0; + out_7971983971871194008[67] = 0.0; + out_7971983971871194008[68] = 0.0; + out_7971983971871194008[69] = 0.0; + out_7971983971871194008[70] = 1.0; + out_7971983971871194008[71] = 0.0; + out_7971983971871194008[72] = 0.0; + out_7971983971871194008[73] = 0.0; + out_7971983971871194008[74] = 0.0; + out_7971983971871194008[75] = 0.0; + out_7971983971871194008[76] = 0.0; + out_7971983971871194008[77] = 0.0; + out_7971983971871194008[78] = 0.0; + out_7971983971871194008[79] = 0.0; + out_7971983971871194008[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8901269396414862155) { - out_8901269396414862155[0] = state[0]; - out_8901269396414862155[1] = state[1]; - out_8901269396414862155[2] = state[2]; - out_8901269396414862155[3] = state[3]; - out_8901269396414862155[4] = state[4]; - out_8901269396414862155[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_8901269396414862155[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_8901269396414862155[7] = state[7]; - out_8901269396414862155[8] = state[8]; +void f_fun(double *state, double dt, double *out_1960663178760025601) { + out_1960663178760025601[0] = state[0]; + out_1960663178760025601[1] = state[1]; + out_1960663178760025601[2] = state[2]; + out_1960663178760025601[3] = state[3]; + out_1960663178760025601[4] = state[4]; + out_1960663178760025601[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_1960663178760025601[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_1960663178760025601[7] = state[7]; + out_1960663178760025601[8] = state[8]; } -void F_fun(double *state, double dt, double *out_8699189799260073455) { - out_8699189799260073455[0] = 1; - out_8699189799260073455[1] = 0; - out_8699189799260073455[2] = 0; - out_8699189799260073455[3] = 0; - out_8699189799260073455[4] = 0; - out_8699189799260073455[5] = 0; - out_8699189799260073455[6] = 0; - out_8699189799260073455[7] = 0; - out_8699189799260073455[8] = 0; - out_8699189799260073455[9] = 0; - out_8699189799260073455[10] = 1; - out_8699189799260073455[11] = 0; - out_8699189799260073455[12] = 0; - out_8699189799260073455[13] = 0; - out_8699189799260073455[14] = 0; - out_8699189799260073455[15] = 0; - out_8699189799260073455[16] = 0; - out_8699189799260073455[17] = 0; - out_8699189799260073455[18] = 0; - out_8699189799260073455[19] = 0; - out_8699189799260073455[20] = 1; - out_8699189799260073455[21] = 0; - out_8699189799260073455[22] = 0; - out_8699189799260073455[23] = 0; - out_8699189799260073455[24] = 0; - out_8699189799260073455[25] = 0; - out_8699189799260073455[26] = 0; - out_8699189799260073455[27] = 0; - out_8699189799260073455[28] = 0; - out_8699189799260073455[29] = 0; - out_8699189799260073455[30] = 1; - out_8699189799260073455[31] = 0; - out_8699189799260073455[32] = 0; - out_8699189799260073455[33] = 0; - out_8699189799260073455[34] = 0; - out_8699189799260073455[35] = 0; - out_8699189799260073455[36] = 0; - out_8699189799260073455[37] = 0; - out_8699189799260073455[38] = 0; - out_8699189799260073455[39] = 0; - out_8699189799260073455[40] = 1; - out_8699189799260073455[41] = 0; - out_8699189799260073455[42] = 0; - out_8699189799260073455[43] = 0; - out_8699189799260073455[44] = 0; - out_8699189799260073455[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_8699189799260073455[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_8699189799260073455[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8699189799260073455[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_8699189799260073455[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_8699189799260073455[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_8699189799260073455[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_8699189799260073455[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_8699189799260073455[53] = -9.8100000000000005*dt; - out_8699189799260073455[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_8699189799260073455[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_8699189799260073455[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8699189799260073455[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8699189799260073455[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_8699189799260073455[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_8699189799260073455[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_8699189799260073455[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_8699189799260073455[62] = 0; - out_8699189799260073455[63] = 0; - out_8699189799260073455[64] = 0; - out_8699189799260073455[65] = 0; - out_8699189799260073455[66] = 0; - out_8699189799260073455[67] = 0; - out_8699189799260073455[68] = 0; - out_8699189799260073455[69] = 0; - out_8699189799260073455[70] = 1; - out_8699189799260073455[71] = 0; - out_8699189799260073455[72] = 0; - out_8699189799260073455[73] = 0; - out_8699189799260073455[74] = 0; - out_8699189799260073455[75] = 0; - out_8699189799260073455[76] = 0; - out_8699189799260073455[77] = 0; - out_8699189799260073455[78] = 0; - out_8699189799260073455[79] = 0; - out_8699189799260073455[80] = 1; +void F_fun(double *state, double dt, double *out_893498683805935900) { + out_893498683805935900[0] = 1; + out_893498683805935900[1] = 0; + out_893498683805935900[2] = 0; + out_893498683805935900[3] = 0; + out_893498683805935900[4] = 0; + out_893498683805935900[5] = 0; + out_893498683805935900[6] = 0; + out_893498683805935900[7] = 0; + out_893498683805935900[8] = 0; + out_893498683805935900[9] = 0; + out_893498683805935900[10] = 1; + out_893498683805935900[11] = 0; + out_893498683805935900[12] = 0; + out_893498683805935900[13] = 0; + out_893498683805935900[14] = 0; + out_893498683805935900[15] = 0; + out_893498683805935900[16] = 0; + out_893498683805935900[17] = 0; + out_893498683805935900[18] = 0; + out_893498683805935900[19] = 0; + out_893498683805935900[20] = 1; + out_893498683805935900[21] = 0; + out_893498683805935900[22] = 0; + out_893498683805935900[23] = 0; + out_893498683805935900[24] = 0; + out_893498683805935900[25] = 0; + out_893498683805935900[26] = 0; + out_893498683805935900[27] = 0; + out_893498683805935900[28] = 0; + out_893498683805935900[29] = 0; + out_893498683805935900[30] = 1; + out_893498683805935900[31] = 0; + out_893498683805935900[32] = 0; + out_893498683805935900[33] = 0; + out_893498683805935900[34] = 0; + out_893498683805935900[35] = 0; + out_893498683805935900[36] = 0; + out_893498683805935900[37] = 0; + out_893498683805935900[38] = 0; + out_893498683805935900[39] = 0; + out_893498683805935900[40] = 1; + out_893498683805935900[41] = 0; + out_893498683805935900[42] = 0; + out_893498683805935900[43] = 0; + out_893498683805935900[44] = 0; + out_893498683805935900[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_893498683805935900[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_893498683805935900[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_893498683805935900[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_893498683805935900[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_893498683805935900[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_893498683805935900[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_893498683805935900[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_893498683805935900[53] = -9.8100000000000005*dt; + out_893498683805935900[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_893498683805935900[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_893498683805935900[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_893498683805935900[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_893498683805935900[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_893498683805935900[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_893498683805935900[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_893498683805935900[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_893498683805935900[62] = 0; + out_893498683805935900[63] = 0; + out_893498683805935900[64] = 0; + out_893498683805935900[65] = 0; + out_893498683805935900[66] = 0; + out_893498683805935900[67] = 0; + out_893498683805935900[68] = 0; + out_893498683805935900[69] = 0; + out_893498683805935900[70] = 1; + out_893498683805935900[71] = 0; + out_893498683805935900[72] = 0; + out_893498683805935900[73] = 0; + out_893498683805935900[74] = 0; + out_893498683805935900[75] = 0; + out_893498683805935900[76] = 0; + out_893498683805935900[77] = 0; + out_893498683805935900[78] = 0; + out_893498683805935900[79] = 0; + out_893498683805935900[80] = 1; } -void h_25(double *state, double *unused, double *out_7376242857501384597) { - out_7376242857501384597[0] = state[6]; +void h_25(double *state, double *unused, double *out_3235092958161781685) { + out_3235092958161781685[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4045865477829865137) { - out_4045865477829865137[0] = 0; - out_4045865477829865137[1] = 0; - out_4045865477829865137[2] = 0; - out_4045865477829865137[3] = 0; - out_4045865477829865137[4] = 0; - out_4045865477829865137[5] = 0; - out_4045865477829865137[6] = 1; - out_4045865477829865137[7] = 0; - out_4045865477829865137[8] = 0; +void H_25(double *state, double *unused, double *out_4449003321881702331) { + out_4449003321881702331[0] = 0; + out_4449003321881702331[1] = 0; + out_4449003321881702331[2] = 0; + out_4449003321881702331[3] = 0; + out_4449003321881702331[4] = 0; + out_4449003321881702331[5] = 0; + out_4449003321881702331[6] = 1; + out_4449003321881702331[7] = 0; + out_4449003321881702331[8] = 0; } -void h_24(double *state, double *unused, double *out_8059939713516192443) { - out_8059939713516192443[0] = state[4]; - out_8059939713516192443[1] = state[5]; +void h_24(double *state, double *unused, double *out_5426063249126145013) { + out_5426063249126145013[0] = state[4]; + out_5426063249126145013[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6223079901437015110) { - out_6223079901437015110[0] = 0; - out_6223079901437015110[1] = 0; - out_6223079901437015110[2] = 0; - out_6223079901437015110[3] = 0; - out_6223079901437015110[4] = 1; - out_6223079901437015110[5] = 0; - out_6223079901437015110[6] = 0; - out_6223079901437015110[7] = 0; - out_6223079901437015110[8] = 0; - out_6223079901437015110[9] = 0; - out_6223079901437015110[10] = 0; - out_6223079901437015110[11] = 0; - out_6223079901437015110[12] = 0; - out_6223079901437015110[13] = 0; - out_6223079901437015110[14] = 1; - out_6223079901437015110[15] = 0; - out_6223079901437015110[16] = 0; - out_6223079901437015110[17] = 0; +void H_24(double *state, double *unused, double *out_4845648626235561826) { + out_4845648626235561826[0] = 0; + out_4845648626235561826[1] = 0; + out_4845648626235561826[2] = 0; + out_4845648626235561826[3] = 0; + out_4845648626235561826[4] = 1; + out_4845648626235561826[5] = 0; + out_4845648626235561826[6] = 0; + out_4845648626235561826[7] = 0; + out_4845648626235561826[8] = 0; + out_4845648626235561826[9] = 0; + out_4845648626235561826[10] = 0; + out_4845648626235561826[11] = 0; + out_4845648626235561826[12] = 0; + out_4845648626235561826[13] = 0; + out_4845648626235561826[14] = 1; + out_4845648626235561826[15] = 0; + out_4845648626235561826[16] = 0; + out_4845648626235561826[17] = 0; } -void h_30(double *state, double *unused, double *out_4428516867145899636) { - out_4428516867145899636[0] = state[4]; +void h_30(double *state, double *unused, double *out_9056203919707109802) { + out_9056203919707109802[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6564198436337113764) { - out_6564198436337113764[0] = 0; - out_6564198436337113764[1] = 0; - out_6564198436337113764[2] = 0; - out_6564198436337113764[3] = 0; - out_6564198436337113764[4] = 1; - out_6564198436337113764[5] = 0; - out_6564198436337113764[6] = 0; - out_6564198436337113764[7] = 0; - out_6564198436337113764[8] = 0; +void H_30(double *state, double *unused, double *out_1930670363374453704) { + out_1930670363374453704[0] = 0; + out_1930670363374453704[1] = 0; + out_1930670363374453704[2] = 0; + out_1930670363374453704[3] = 0; + out_1930670363374453704[4] = 1; + out_1930670363374453704[5] = 0; + out_1930670363374453704[6] = 0; + out_1930670363374453704[7] = 0; + out_1930670363374453704[8] = 0; } -void h_26(double *state, double *unused, double *out_6344022010831827263) { - out_6344022010831827263[0] = state[7]; +void h_26(double *state, double *unused, double *out_6243651816437256419) { + out_6243651816437256419[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7350391447590665738) { - out_7350391447590665738[0] = 0; - out_7350391447590665738[1] = 0; - out_7350391447590665738[2] = 0; - out_7350391447590665738[3] = 0; - out_7350391447590665738[4] = 0; - out_7350391447590665738[5] = 0; - out_7350391447590665738[6] = 0; - out_7350391447590665738[7] = 1; - out_7350391447590665738[8] = 0; +void H_26(double *state, double *unused, double *out_8190506640755758555) { + out_8190506640755758555[0] = 0; + out_8190506640755758555[1] = 0; + out_8190506640755758555[2] = 0; + out_8190506640755758555[3] = 0; + out_8190506640755758555[4] = 0; + out_8190506640755758555[5] = 0; + out_8190506640755758555[6] = 0; + out_8190506640755758555[7] = 1; + out_8190506640755758555[8] = 0; } -void h_27(double *state, double *unused, double *out_8466095895399469368) { - out_8466095895399469368[0] = state[3]; +void h_27(double *state, double *unused, double *out_3838408842838259202) { + out_3838408842838259202[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4389435124536688853) { - out_4389435124536688853[0] = 0; - out_4389435124536688853[1] = 0; - out_4389435124536688853[2] = 0; - out_4389435124536688853[3] = 1; - out_4389435124536688853[4] = 0; - out_4389435124536688853[5] = 0; - out_4389435124536688853[6] = 0; - out_4389435124536688853[7] = 0; - out_4389435124536688853[8] = 0; +void H_27(double *state, double *unused, double *out_292923707809489513) { + out_292923707809489513[0] = 0; + out_292923707809489513[1] = 0; + out_292923707809489513[2] = 0; + out_292923707809489513[3] = 1; + out_292923707809489513[4] = 0; + out_292923707809489513[5] = 0; + out_292923707809489513[6] = 0; + out_292923707809489513[7] = 0; + out_292923707809489513[8] = 0; } -void h_29(double *state, double *unused, double *out_3825200982469422119) { - out_3825200982469422119[0] = state[1]; +void h_29(double *state, double *unused, double *out_259894455441112662) { + out_259894455441112662[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7074429780651505948) { - out_7074429780651505948[0] = 0; - out_7074429780651505948[1] = 1; - out_7074429780651505948[2] = 0; - out_7074429780651505948[3] = 0; - out_7074429780651505948[4] = 0; - out_7074429780651505948[5] = 0; - out_7074429780651505948[6] = 0; - out_7074429780651505948[7] = 0; - out_7074429780651505948[8] = 0; +void H_29(double *state, double *unused, double *out_1420439019060061520) { + out_1420439019060061520[0] = 0; + out_1420439019060061520[1] = 1; + out_1420439019060061520[2] = 0; + out_1420439019060061520[3] = 0; + out_1420439019060061520[4] = 0; + out_1420439019060061520[5] = 0; + out_1420439019060061520[6] = 0; + out_1420439019060061520[7] = 0; + out_1420439019060061520[8] = 0; } -void h_28(double *state, double *unused, double *out_515873276607371397) { - out_515873276607371397[0] = state[0]; +void h_28(double *state, double *unused, double *out_5143560329168581563) { + out_5143560329168581563[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1992030763581975374) { - out_1992030763581975374[0] = 1; - out_1992030763581975374[1] = 0; - out_1992030763581975374[2] = 0; - out_1992030763581975374[3] = 0; - out_1992030763581975374[4] = 0; - out_1992030763581975374[5] = 0; - out_1992030763581975374[6] = 0; - out_1992030763581975374[7] = 0; - out_1992030763581975374[8] = 0; +void H_28(double *state, double *unused, double *out_6502838036129592094) { + out_6502838036129592094[0] = 1; + out_6502838036129592094[1] = 0; + out_6502838036129592094[2] = 0; + out_6502838036129592094[3] = 0; + out_6502838036129592094[4] = 0; + out_6502838036129592094[5] = 0; + out_6502838036129592094[6] = 0; + out_6502838036129592094[7] = 0; + out_6502838036129592094[8] = 0; } -void h_31(double *state, double *unused, double *out_3189228565454117834) { - out_3189228565454117834[0] = state[8]; +void h_31(double *state, double *unused, double *out_2959898895877275796) { + out_2959898895877275796[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6724183345357314262) { - out_6724183345357314262[0] = 0; - out_6724183345357314262[1] = 0; - out_6724183345357314262[2] = 0; - out_6724183345357314262[3] = 0; - out_6724183345357314262[4] = 0; - out_6724183345357314262[5] = 0; - out_6724183345357314262[6] = 0; - out_6724183345357314262[7] = 0; - out_6724183345357314262[8] = 1; +void H_31(double *state, double *unused, double *out_4418357360004741903) { + out_4418357360004741903[0] = 0; + out_4418357360004741903[1] = 0; + out_4418357360004741903[2] = 0; + out_4418357360004741903[3] = 0; + out_4418357360004741903[4] = 0; + out_4418357360004741903[5] = 0; + out_4418357360004741903[6] = 0; + out_4418357360004741903[7] = 0; + out_4418357360004741903[8] = 1; } #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_3239626159248919555) { - err_fun(nom_x, delta_x, out_3239626159248919555); +void car_err_fun(double *nom_x, double *delta_x, double *out_4175267327343220067) { + err_fun(nom_x, delta_x, out_4175267327343220067); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837) { - inv_err_fun(nom_x, true_x, out_7776805117874316837); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298) { + inv_err_fun(nom_x, true_x, out_8001717605441520298); } -void car_H_mod_fun(double *state, double *out_857826347354799703) { - H_mod_fun(state, out_857826347354799703); +void car_H_mod_fun(double *state, double *out_7971983971871194008) { + H_mod_fun(state, out_7971983971871194008); } -void car_f_fun(double *state, double dt, double *out_8901269396414862155) { - f_fun(state, dt, out_8901269396414862155); +void car_f_fun(double *state, double dt, double *out_1960663178760025601) { + f_fun(state, dt, out_1960663178760025601); } -void car_F_fun(double *state, double dt, double *out_8699189799260073455) { - F_fun(state, dt, out_8699189799260073455); +void car_F_fun(double *state, double dt, double *out_893498683805935900) { + F_fun(state, dt, out_893498683805935900); } -void car_h_25(double *state, double *unused, double *out_7376242857501384597) { - h_25(state, unused, out_7376242857501384597); +void car_h_25(double *state, double *unused, double *out_3235092958161781685) { + h_25(state, unused, out_3235092958161781685); } -void car_H_25(double *state, double *unused, double *out_4045865477829865137) { - H_25(state, unused, out_4045865477829865137); +void car_H_25(double *state, double *unused, double *out_4449003321881702331) { + H_25(state, unused, out_4449003321881702331); } -void car_h_24(double *state, double *unused, double *out_8059939713516192443) { - h_24(state, unused, out_8059939713516192443); +void car_h_24(double *state, double *unused, double *out_5426063249126145013) { + h_24(state, unused, out_5426063249126145013); } -void car_H_24(double *state, double *unused, double *out_6223079901437015110) { - H_24(state, unused, out_6223079901437015110); +void car_H_24(double *state, double *unused, double *out_4845648626235561826) { + H_24(state, unused, out_4845648626235561826); } -void car_h_30(double *state, double *unused, double *out_4428516867145899636) { - h_30(state, unused, out_4428516867145899636); +void car_h_30(double *state, double *unused, double *out_9056203919707109802) { + h_30(state, unused, out_9056203919707109802); } -void car_H_30(double *state, double *unused, double *out_6564198436337113764) { - H_30(state, unused, out_6564198436337113764); +void car_H_30(double *state, double *unused, double *out_1930670363374453704) { + H_30(state, unused, out_1930670363374453704); } -void car_h_26(double *state, double *unused, double *out_6344022010831827263) { - h_26(state, unused, out_6344022010831827263); +void car_h_26(double *state, double *unused, double *out_6243651816437256419) { + h_26(state, unused, out_6243651816437256419); } -void car_H_26(double *state, double *unused, double *out_7350391447590665738) { - H_26(state, unused, out_7350391447590665738); +void car_H_26(double *state, double *unused, double *out_8190506640755758555) { + H_26(state, unused, out_8190506640755758555); } -void car_h_27(double *state, double *unused, double *out_8466095895399469368) { - h_27(state, unused, out_8466095895399469368); +void car_h_27(double *state, double *unused, double *out_3838408842838259202) { + h_27(state, unused, out_3838408842838259202); } -void car_H_27(double *state, double *unused, double *out_4389435124536688853) { - H_27(state, unused, out_4389435124536688853); +void car_H_27(double *state, double *unused, double *out_292923707809489513) { + H_27(state, unused, out_292923707809489513); } -void car_h_29(double *state, double *unused, double *out_3825200982469422119) { - h_29(state, unused, out_3825200982469422119); +void car_h_29(double *state, double *unused, double *out_259894455441112662) { + h_29(state, unused, out_259894455441112662); } -void car_H_29(double *state, double *unused, double *out_7074429780651505948) { - H_29(state, unused, out_7074429780651505948); +void car_H_29(double *state, double *unused, double *out_1420439019060061520) { + H_29(state, unused, out_1420439019060061520); } -void car_h_28(double *state, double *unused, double *out_515873276607371397) { - h_28(state, unused, out_515873276607371397); +void car_h_28(double *state, double *unused, double *out_5143560329168581563) { + h_28(state, unused, out_5143560329168581563); } -void car_H_28(double *state, double *unused, double *out_1992030763581975374) { - H_28(state, unused, out_1992030763581975374); +void car_H_28(double *state, double *unused, double *out_6502838036129592094) { + H_28(state, unused, out_6502838036129592094); } -void car_h_31(double *state, double *unused, double *out_3189228565454117834) { - h_31(state, unused, out_3189228565454117834); +void car_h_31(double *state, double *unused, double *out_2959898895877275796) { + h_31(state, unused, out_2959898895877275796); } -void car_H_31(double *state, double *unused, double *out_6724183345357314262) { - H_31(state, unused, out_6724183345357314262); +void car_H_31(double *state, double *unused, double *out_4418357360004741903) { + H_31(state, unused, out_4418357360004741903); } 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 392ab4e6d..bebdb88ba 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_3239626159248919555); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837); -void car_H_mod_fun(double *state, double *out_857826347354799703); -void car_f_fun(double *state, double dt, double *out_8901269396414862155); -void car_F_fun(double *state, double dt, double *out_8699189799260073455); -void car_h_25(double *state, double *unused, double *out_7376242857501384597); -void car_H_25(double *state, double *unused, double *out_4045865477829865137); -void car_h_24(double *state, double *unused, double *out_8059939713516192443); -void car_H_24(double *state, double *unused, double *out_6223079901437015110); -void car_h_30(double *state, double *unused, double *out_4428516867145899636); -void car_H_30(double *state, double *unused, double *out_6564198436337113764); -void car_h_26(double *state, double *unused, double *out_6344022010831827263); -void car_H_26(double *state, double *unused, double *out_7350391447590665738); -void car_h_27(double *state, double *unused, double *out_8466095895399469368); -void car_H_27(double *state, double *unused, double *out_4389435124536688853); -void car_h_29(double *state, double *unused, double *out_3825200982469422119); -void car_H_29(double *state, double *unused, double *out_7074429780651505948); -void car_h_28(double *state, double *unused, double *out_515873276607371397); -void car_H_28(double *state, double *unused, double *out_1992030763581975374); -void car_h_31(double *state, double *unused, double *out_3189228565454117834); -void car_H_31(double *state, double *unused, double *out_6724183345357314262); +void car_err_fun(double *nom_x, double *delta_x, double *out_4175267327343220067); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8001717605441520298); +void car_H_mod_fun(double *state, double *out_7971983971871194008); +void car_f_fun(double *state, double dt, double *out_1960663178760025601); +void car_F_fun(double *state, double dt, double *out_893498683805935900); +void car_h_25(double *state, double *unused, double *out_3235092958161781685); +void car_H_25(double *state, double *unused, double *out_4449003321881702331); +void car_h_24(double *state, double *unused, double *out_5426063249126145013); +void car_H_24(double *state, double *unused, double *out_4845648626235561826); +void car_h_30(double *state, double *unused, double *out_9056203919707109802); +void car_H_30(double *state, double *unused, double *out_1930670363374453704); +void car_h_26(double *state, double *unused, double *out_6243651816437256419); +void car_H_26(double *state, double *unused, double *out_8190506640755758555); +void car_h_27(double *state, double *unused, double *out_3838408842838259202); +void car_H_27(double *state, double *unused, double *out_292923707809489513); +void car_h_29(double *state, double *unused, double *out_259894455441112662); +void car_H_29(double *state, double *unused, double *out_1420439019060061520); +void car_h_28(double *state, double *unused, double *out_5143560329168581563); +void car_H_28(double *state, double *unused, double *out_6502838036129592094); +void car_h_31(double *state, double *unused, double *out_2959898895877275796); +void car_H_31(double *state, double *unused, double *out_4418357360004741903); void car_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 e7780d08f..b9b421d90 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_4358722787451740543) { - out_4358722787451740543[0] = delta_x[0] + nom_x[0]; - out_4358722787451740543[1] = delta_x[1] + nom_x[1]; - out_4358722787451740543[2] = delta_x[2] + nom_x[2]; - out_4358722787451740543[3] = delta_x[3] + nom_x[3]; - out_4358722787451740543[4] = delta_x[4] + nom_x[4]; - out_4358722787451740543[5] = delta_x[5] + nom_x[5]; - out_4358722787451740543[6] = delta_x[6] + nom_x[6]; - out_4358722787451740543[7] = delta_x[7] + nom_x[7]; - out_4358722787451740543[8] = delta_x[8] + nom_x[8]; - out_4358722787451740543[9] = delta_x[9] + nom_x[9]; - out_4358722787451740543[10] = delta_x[10] + nom_x[10]; - out_4358722787451740543[11] = delta_x[11] + nom_x[11]; - out_4358722787451740543[12] = delta_x[12] + nom_x[12]; - out_4358722787451740543[13] = delta_x[13] + nom_x[13]; - out_4358722787451740543[14] = delta_x[14] + nom_x[14]; - out_4358722787451740543[15] = delta_x[15] + nom_x[15]; - out_4358722787451740543[16] = delta_x[16] + nom_x[16]; - out_4358722787451740543[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2182435369834896236) { + out_2182435369834896236[0] = delta_x[0] + nom_x[0]; + out_2182435369834896236[1] = delta_x[1] + nom_x[1]; + out_2182435369834896236[2] = delta_x[2] + nom_x[2]; + out_2182435369834896236[3] = delta_x[3] + nom_x[3]; + out_2182435369834896236[4] = delta_x[4] + nom_x[4]; + out_2182435369834896236[5] = delta_x[5] + nom_x[5]; + out_2182435369834896236[6] = delta_x[6] + nom_x[6]; + out_2182435369834896236[7] = delta_x[7] + nom_x[7]; + out_2182435369834896236[8] = delta_x[8] + nom_x[8]; + out_2182435369834896236[9] = delta_x[9] + nom_x[9]; + out_2182435369834896236[10] = delta_x[10] + nom_x[10]; + out_2182435369834896236[11] = delta_x[11] + nom_x[11]; + out_2182435369834896236[12] = delta_x[12] + nom_x[12]; + out_2182435369834896236[13] = delta_x[13] + nom_x[13]; + out_2182435369834896236[14] = delta_x[14] + nom_x[14]; + out_2182435369834896236[15] = delta_x[15] + nom_x[15]; + out_2182435369834896236[16] = delta_x[16] + nom_x[16]; + out_2182435369834896236[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8563351397910358896) { - out_8563351397910358896[0] = -nom_x[0] + true_x[0]; - out_8563351397910358896[1] = -nom_x[1] + true_x[1]; - out_8563351397910358896[2] = -nom_x[2] + true_x[2]; - out_8563351397910358896[3] = -nom_x[3] + true_x[3]; - out_8563351397910358896[4] = -nom_x[4] + true_x[4]; - out_8563351397910358896[5] = -nom_x[5] + true_x[5]; - out_8563351397910358896[6] = -nom_x[6] + true_x[6]; - out_8563351397910358896[7] = -nom_x[7] + true_x[7]; - out_8563351397910358896[8] = -nom_x[8] + true_x[8]; - out_8563351397910358896[9] = -nom_x[9] + true_x[9]; - out_8563351397910358896[10] = -nom_x[10] + true_x[10]; - out_8563351397910358896[11] = -nom_x[11] + true_x[11]; - out_8563351397910358896[12] = -nom_x[12] + true_x[12]; - out_8563351397910358896[13] = -nom_x[13] + true_x[13]; - out_8563351397910358896[14] = -nom_x[14] + true_x[14]; - out_8563351397910358896[15] = -nom_x[15] + true_x[15]; - out_8563351397910358896[16] = -nom_x[16] + true_x[16]; - out_8563351397910358896[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197) { + out_2883166859334089197[0] = -nom_x[0] + true_x[0]; + out_2883166859334089197[1] = -nom_x[1] + true_x[1]; + out_2883166859334089197[2] = -nom_x[2] + true_x[2]; + out_2883166859334089197[3] = -nom_x[3] + true_x[3]; + out_2883166859334089197[4] = -nom_x[4] + true_x[4]; + out_2883166859334089197[5] = -nom_x[5] + true_x[5]; + out_2883166859334089197[6] = -nom_x[6] + true_x[6]; + out_2883166859334089197[7] = -nom_x[7] + true_x[7]; + out_2883166859334089197[8] = -nom_x[8] + true_x[8]; + out_2883166859334089197[9] = -nom_x[9] + true_x[9]; + out_2883166859334089197[10] = -nom_x[10] + true_x[10]; + out_2883166859334089197[11] = -nom_x[11] + true_x[11]; + out_2883166859334089197[12] = -nom_x[12] + true_x[12]; + out_2883166859334089197[13] = -nom_x[13] + true_x[13]; + out_2883166859334089197[14] = -nom_x[14] + true_x[14]; + out_2883166859334089197[15] = -nom_x[15] + true_x[15]; + out_2883166859334089197[16] = -nom_x[16] + true_x[16]; + out_2883166859334089197[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_5753197897836805411) { - out_5753197897836805411[0] = 1.0; - out_5753197897836805411[1] = 0.0; - out_5753197897836805411[2] = 0.0; - out_5753197897836805411[3] = 0.0; - out_5753197897836805411[4] = 0.0; - out_5753197897836805411[5] = 0.0; - out_5753197897836805411[6] = 0.0; - out_5753197897836805411[7] = 0.0; - out_5753197897836805411[8] = 0.0; - out_5753197897836805411[9] = 0.0; - out_5753197897836805411[10] = 0.0; - out_5753197897836805411[11] = 0.0; - out_5753197897836805411[12] = 0.0; - out_5753197897836805411[13] = 0.0; - out_5753197897836805411[14] = 0.0; - out_5753197897836805411[15] = 0.0; - out_5753197897836805411[16] = 0.0; - out_5753197897836805411[17] = 0.0; - out_5753197897836805411[18] = 0.0; - out_5753197897836805411[19] = 1.0; - out_5753197897836805411[20] = 0.0; - out_5753197897836805411[21] = 0.0; - out_5753197897836805411[22] = 0.0; - out_5753197897836805411[23] = 0.0; - out_5753197897836805411[24] = 0.0; - out_5753197897836805411[25] = 0.0; - out_5753197897836805411[26] = 0.0; - out_5753197897836805411[27] = 0.0; - out_5753197897836805411[28] = 0.0; - out_5753197897836805411[29] = 0.0; - out_5753197897836805411[30] = 0.0; - out_5753197897836805411[31] = 0.0; - out_5753197897836805411[32] = 0.0; - out_5753197897836805411[33] = 0.0; - out_5753197897836805411[34] = 0.0; - out_5753197897836805411[35] = 0.0; - out_5753197897836805411[36] = 0.0; - out_5753197897836805411[37] = 0.0; - out_5753197897836805411[38] = 1.0; - out_5753197897836805411[39] = 0.0; - out_5753197897836805411[40] = 0.0; - out_5753197897836805411[41] = 0.0; - out_5753197897836805411[42] = 0.0; - out_5753197897836805411[43] = 0.0; - out_5753197897836805411[44] = 0.0; - out_5753197897836805411[45] = 0.0; - out_5753197897836805411[46] = 0.0; - out_5753197897836805411[47] = 0.0; - out_5753197897836805411[48] = 0.0; - out_5753197897836805411[49] = 0.0; - out_5753197897836805411[50] = 0.0; - out_5753197897836805411[51] = 0.0; - out_5753197897836805411[52] = 0.0; - out_5753197897836805411[53] = 0.0; - out_5753197897836805411[54] = 0.0; - out_5753197897836805411[55] = 0.0; - out_5753197897836805411[56] = 0.0; - out_5753197897836805411[57] = 1.0; - out_5753197897836805411[58] = 0.0; - out_5753197897836805411[59] = 0.0; - out_5753197897836805411[60] = 0.0; - out_5753197897836805411[61] = 0.0; - out_5753197897836805411[62] = 0.0; - out_5753197897836805411[63] = 0.0; - out_5753197897836805411[64] = 0.0; - out_5753197897836805411[65] = 0.0; - out_5753197897836805411[66] = 0.0; - out_5753197897836805411[67] = 0.0; - out_5753197897836805411[68] = 0.0; - out_5753197897836805411[69] = 0.0; - out_5753197897836805411[70] = 0.0; - out_5753197897836805411[71] = 0.0; - out_5753197897836805411[72] = 0.0; - out_5753197897836805411[73] = 0.0; - out_5753197897836805411[74] = 0.0; - out_5753197897836805411[75] = 0.0; - out_5753197897836805411[76] = 1.0; - out_5753197897836805411[77] = 0.0; - out_5753197897836805411[78] = 0.0; - out_5753197897836805411[79] = 0.0; - out_5753197897836805411[80] = 0.0; - out_5753197897836805411[81] = 0.0; - out_5753197897836805411[82] = 0.0; - out_5753197897836805411[83] = 0.0; - out_5753197897836805411[84] = 0.0; - out_5753197897836805411[85] = 0.0; - out_5753197897836805411[86] = 0.0; - out_5753197897836805411[87] = 0.0; - out_5753197897836805411[88] = 0.0; - out_5753197897836805411[89] = 0.0; - out_5753197897836805411[90] = 0.0; - out_5753197897836805411[91] = 0.0; - out_5753197897836805411[92] = 0.0; - out_5753197897836805411[93] = 0.0; - out_5753197897836805411[94] = 0.0; - out_5753197897836805411[95] = 1.0; - out_5753197897836805411[96] = 0.0; - out_5753197897836805411[97] = 0.0; - out_5753197897836805411[98] = 0.0; - out_5753197897836805411[99] = 0.0; - out_5753197897836805411[100] = 0.0; - out_5753197897836805411[101] = 0.0; - out_5753197897836805411[102] = 0.0; - out_5753197897836805411[103] = 0.0; - out_5753197897836805411[104] = 0.0; - out_5753197897836805411[105] = 0.0; - out_5753197897836805411[106] = 0.0; - out_5753197897836805411[107] = 0.0; - out_5753197897836805411[108] = 0.0; - out_5753197897836805411[109] = 0.0; - out_5753197897836805411[110] = 0.0; - out_5753197897836805411[111] = 0.0; - out_5753197897836805411[112] = 0.0; - out_5753197897836805411[113] = 0.0; - out_5753197897836805411[114] = 1.0; - out_5753197897836805411[115] = 0.0; - out_5753197897836805411[116] = 0.0; - out_5753197897836805411[117] = 0.0; - out_5753197897836805411[118] = 0.0; - out_5753197897836805411[119] = 0.0; - out_5753197897836805411[120] = 0.0; - out_5753197897836805411[121] = 0.0; - out_5753197897836805411[122] = 0.0; - out_5753197897836805411[123] = 0.0; - out_5753197897836805411[124] = 0.0; - out_5753197897836805411[125] = 0.0; - out_5753197897836805411[126] = 0.0; - out_5753197897836805411[127] = 0.0; - out_5753197897836805411[128] = 0.0; - out_5753197897836805411[129] = 0.0; - out_5753197897836805411[130] = 0.0; - out_5753197897836805411[131] = 0.0; - out_5753197897836805411[132] = 0.0; - out_5753197897836805411[133] = 1.0; - out_5753197897836805411[134] = 0.0; - out_5753197897836805411[135] = 0.0; - out_5753197897836805411[136] = 0.0; - out_5753197897836805411[137] = 0.0; - out_5753197897836805411[138] = 0.0; - out_5753197897836805411[139] = 0.0; - out_5753197897836805411[140] = 0.0; - out_5753197897836805411[141] = 0.0; - out_5753197897836805411[142] = 0.0; - out_5753197897836805411[143] = 0.0; - out_5753197897836805411[144] = 0.0; - out_5753197897836805411[145] = 0.0; - out_5753197897836805411[146] = 0.0; - out_5753197897836805411[147] = 0.0; - out_5753197897836805411[148] = 0.0; - out_5753197897836805411[149] = 0.0; - out_5753197897836805411[150] = 0.0; - out_5753197897836805411[151] = 0.0; - out_5753197897836805411[152] = 1.0; - out_5753197897836805411[153] = 0.0; - out_5753197897836805411[154] = 0.0; - out_5753197897836805411[155] = 0.0; - out_5753197897836805411[156] = 0.0; - out_5753197897836805411[157] = 0.0; - out_5753197897836805411[158] = 0.0; - out_5753197897836805411[159] = 0.0; - out_5753197897836805411[160] = 0.0; - out_5753197897836805411[161] = 0.0; - out_5753197897836805411[162] = 0.0; - out_5753197897836805411[163] = 0.0; - out_5753197897836805411[164] = 0.0; - out_5753197897836805411[165] = 0.0; - out_5753197897836805411[166] = 0.0; - out_5753197897836805411[167] = 0.0; - out_5753197897836805411[168] = 0.0; - out_5753197897836805411[169] = 0.0; - out_5753197897836805411[170] = 0.0; - out_5753197897836805411[171] = 1.0; - out_5753197897836805411[172] = 0.0; - out_5753197897836805411[173] = 0.0; - out_5753197897836805411[174] = 0.0; - out_5753197897836805411[175] = 0.0; - out_5753197897836805411[176] = 0.0; - out_5753197897836805411[177] = 0.0; - out_5753197897836805411[178] = 0.0; - out_5753197897836805411[179] = 0.0; - out_5753197897836805411[180] = 0.0; - out_5753197897836805411[181] = 0.0; - out_5753197897836805411[182] = 0.0; - out_5753197897836805411[183] = 0.0; - out_5753197897836805411[184] = 0.0; - out_5753197897836805411[185] = 0.0; - out_5753197897836805411[186] = 0.0; - out_5753197897836805411[187] = 0.0; - out_5753197897836805411[188] = 0.0; - out_5753197897836805411[189] = 0.0; - out_5753197897836805411[190] = 1.0; - out_5753197897836805411[191] = 0.0; - out_5753197897836805411[192] = 0.0; - out_5753197897836805411[193] = 0.0; - out_5753197897836805411[194] = 0.0; - out_5753197897836805411[195] = 0.0; - out_5753197897836805411[196] = 0.0; - out_5753197897836805411[197] = 0.0; - out_5753197897836805411[198] = 0.0; - out_5753197897836805411[199] = 0.0; - out_5753197897836805411[200] = 0.0; - out_5753197897836805411[201] = 0.0; - out_5753197897836805411[202] = 0.0; - out_5753197897836805411[203] = 0.0; - out_5753197897836805411[204] = 0.0; - out_5753197897836805411[205] = 0.0; - out_5753197897836805411[206] = 0.0; - out_5753197897836805411[207] = 0.0; - out_5753197897836805411[208] = 0.0; - out_5753197897836805411[209] = 1.0; - out_5753197897836805411[210] = 0.0; - out_5753197897836805411[211] = 0.0; - out_5753197897836805411[212] = 0.0; - out_5753197897836805411[213] = 0.0; - out_5753197897836805411[214] = 0.0; - out_5753197897836805411[215] = 0.0; - out_5753197897836805411[216] = 0.0; - out_5753197897836805411[217] = 0.0; - out_5753197897836805411[218] = 0.0; - out_5753197897836805411[219] = 0.0; - out_5753197897836805411[220] = 0.0; - out_5753197897836805411[221] = 0.0; - out_5753197897836805411[222] = 0.0; - out_5753197897836805411[223] = 0.0; - out_5753197897836805411[224] = 0.0; - out_5753197897836805411[225] = 0.0; - out_5753197897836805411[226] = 0.0; - out_5753197897836805411[227] = 0.0; - out_5753197897836805411[228] = 1.0; - out_5753197897836805411[229] = 0.0; - out_5753197897836805411[230] = 0.0; - out_5753197897836805411[231] = 0.0; - out_5753197897836805411[232] = 0.0; - out_5753197897836805411[233] = 0.0; - out_5753197897836805411[234] = 0.0; - out_5753197897836805411[235] = 0.0; - out_5753197897836805411[236] = 0.0; - out_5753197897836805411[237] = 0.0; - out_5753197897836805411[238] = 0.0; - out_5753197897836805411[239] = 0.0; - out_5753197897836805411[240] = 0.0; - out_5753197897836805411[241] = 0.0; - out_5753197897836805411[242] = 0.0; - out_5753197897836805411[243] = 0.0; - out_5753197897836805411[244] = 0.0; - out_5753197897836805411[245] = 0.0; - out_5753197897836805411[246] = 0.0; - out_5753197897836805411[247] = 1.0; - out_5753197897836805411[248] = 0.0; - out_5753197897836805411[249] = 0.0; - out_5753197897836805411[250] = 0.0; - out_5753197897836805411[251] = 0.0; - out_5753197897836805411[252] = 0.0; - out_5753197897836805411[253] = 0.0; - out_5753197897836805411[254] = 0.0; - out_5753197897836805411[255] = 0.0; - out_5753197897836805411[256] = 0.0; - out_5753197897836805411[257] = 0.0; - out_5753197897836805411[258] = 0.0; - out_5753197897836805411[259] = 0.0; - out_5753197897836805411[260] = 0.0; - out_5753197897836805411[261] = 0.0; - out_5753197897836805411[262] = 0.0; - out_5753197897836805411[263] = 0.0; - out_5753197897836805411[264] = 0.0; - out_5753197897836805411[265] = 0.0; - out_5753197897836805411[266] = 1.0; - out_5753197897836805411[267] = 0.0; - out_5753197897836805411[268] = 0.0; - out_5753197897836805411[269] = 0.0; - out_5753197897836805411[270] = 0.0; - out_5753197897836805411[271] = 0.0; - out_5753197897836805411[272] = 0.0; - out_5753197897836805411[273] = 0.0; - out_5753197897836805411[274] = 0.0; - out_5753197897836805411[275] = 0.0; - out_5753197897836805411[276] = 0.0; - out_5753197897836805411[277] = 0.0; - out_5753197897836805411[278] = 0.0; - out_5753197897836805411[279] = 0.0; - out_5753197897836805411[280] = 0.0; - out_5753197897836805411[281] = 0.0; - out_5753197897836805411[282] = 0.0; - out_5753197897836805411[283] = 0.0; - out_5753197897836805411[284] = 0.0; - out_5753197897836805411[285] = 1.0; - out_5753197897836805411[286] = 0.0; - out_5753197897836805411[287] = 0.0; - out_5753197897836805411[288] = 0.0; - out_5753197897836805411[289] = 0.0; - out_5753197897836805411[290] = 0.0; - out_5753197897836805411[291] = 0.0; - out_5753197897836805411[292] = 0.0; - out_5753197897836805411[293] = 0.0; - out_5753197897836805411[294] = 0.0; - out_5753197897836805411[295] = 0.0; - out_5753197897836805411[296] = 0.0; - out_5753197897836805411[297] = 0.0; - out_5753197897836805411[298] = 0.0; - out_5753197897836805411[299] = 0.0; - out_5753197897836805411[300] = 0.0; - out_5753197897836805411[301] = 0.0; - out_5753197897836805411[302] = 0.0; - out_5753197897836805411[303] = 0.0; - out_5753197897836805411[304] = 1.0; - out_5753197897836805411[305] = 0.0; - out_5753197897836805411[306] = 0.0; - out_5753197897836805411[307] = 0.0; - out_5753197897836805411[308] = 0.0; - out_5753197897836805411[309] = 0.0; - out_5753197897836805411[310] = 0.0; - out_5753197897836805411[311] = 0.0; - out_5753197897836805411[312] = 0.0; - out_5753197897836805411[313] = 0.0; - out_5753197897836805411[314] = 0.0; - out_5753197897836805411[315] = 0.0; - out_5753197897836805411[316] = 0.0; - out_5753197897836805411[317] = 0.0; - out_5753197897836805411[318] = 0.0; - out_5753197897836805411[319] = 0.0; - out_5753197897836805411[320] = 0.0; - out_5753197897836805411[321] = 0.0; - out_5753197897836805411[322] = 0.0; - out_5753197897836805411[323] = 1.0; +void H_mod_fun(double *state, double *out_671491409411989589) { + out_671491409411989589[0] = 1.0; + out_671491409411989589[1] = 0.0; + out_671491409411989589[2] = 0.0; + out_671491409411989589[3] = 0.0; + out_671491409411989589[4] = 0.0; + out_671491409411989589[5] = 0.0; + out_671491409411989589[6] = 0.0; + out_671491409411989589[7] = 0.0; + out_671491409411989589[8] = 0.0; + out_671491409411989589[9] = 0.0; + out_671491409411989589[10] = 0.0; + out_671491409411989589[11] = 0.0; + out_671491409411989589[12] = 0.0; + out_671491409411989589[13] = 0.0; + out_671491409411989589[14] = 0.0; + out_671491409411989589[15] = 0.0; + out_671491409411989589[16] = 0.0; + out_671491409411989589[17] = 0.0; + out_671491409411989589[18] = 0.0; + out_671491409411989589[19] = 1.0; + out_671491409411989589[20] = 0.0; + out_671491409411989589[21] = 0.0; + out_671491409411989589[22] = 0.0; + out_671491409411989589[23] = 0.0; + out_671491409411989589[24] = 0.0; + out_671491409411989589[25] = 0.0; + out_671491409411989589[26] = 0.0; + out_671491409411989589[27] = 0.0; + out_671491409411989589[28] = 0.0; + out_671491409411989589[29] = 0.0; + out_671491409411989589[30] = 0.0; + out_671491409411989589[31] = 0.0; + out_671491409411989589[32] = 0.0; + out_671491409411989589[33] = 0.0; + out_671491409411989589[34] = 0.0; + out_671491409411989589[35] = 0.0; + out_671491409411989589[36] = 0.0; + out_671491409411989589[37] = 0.0; + out_671491409411989589[38] = 1.0; + out_671491409411989589[39] = 0.0; + out_671491409411989589[40] = 0.0; + out_671491409411989589[41] = 0.0; + out_671491409411989589[42] = 0.0; + out_671491409411989589[43] = 0.0; + out_671491409411989589[44] = 0.0; + out_671491409411989589[45] = 0.0; + out_671491409411989589[46] = 0.0; + out_671491409411989589[47] = 0.0; + out_671491409411989589[48] = 0.0; + out_671491409411989589[49] = 0.0; + out_671491409411989589[50] = 0.0; + out_671491409411989589[51] = 0.0; + out_671491409411989589[52] = 0.0; + out_671491409411989589[53] = 0.0; + out_671491409411989589[54] = 0.0; + out_671491409411989589[55] = 0.0; + out_671491409411989589[56] = 0.0; + out_671491409411989589[57] = 1.0; + out_671491409411989589[58] = 0.0; + out_671491409411989589[59] = 0.0; + out_671491409411989589[60] = 0.0; + out_671491409411989589[61] = 0.0; + out_671491409411989589[62] = 0.0; + out_671491409411989589[63] = 0.0; + out_671491409411989589[64] = 0.0; + out_671491409411989589[65] = 0.0; + out_671491409411989589[66] = 0.0; + out_671491409411989589[67] = 0.0; + out_671491409411989589[68] = 0.0; + out_671491409411989589[69] = 0.0; + out_671491409411989589[70] = 0.0; + out_671491409411989589[71] = 0.0; + out_671491409411989589[72] = 0.0; + out_671491409411989589[73] = 0.0; + out_671491409411989589[74] = 0.0; + out_671491409411989589[75] = 0.0; + out_671491409411989589[76] = 1.0; + out_671491409411989589[77] = 0.0; + out_671491409411989589[78] = 0.0; + out_671491409411989589[79] = 0.0; + out_671491409411989589[80] = 0.0; + out_671491409411989589[81] = 0.0; + out_671491409411989589[82] = 0.0; + out_671491409411989589[83] = 0.0; + out_671491409411989589[84] = 0.0; + out_671491409411989589[85] = 0.0; + out_671491409411989589[86] = 0.0; + out_671491409411989589[87] = 0.0; + out_671491409411989589[88] = 0.0; + out_671491409411989589[89] = 0.0; + out_671491409411989589[90] = 0.0; + out_671491409411989589[91] = 0.0; + out_671491409411989589[92] = 0.0; + out_671491409411989589[93] = 0.0; + out_671491409411989589[94] = 0.0; + out_671491409411989589[95] = 1.0; + out_671491409411989589[96] = 0.0; + out_671491409411989589[97] = 0.0; + out_671491409411989589[98] = 0.0; + out_671491409411989589[99] = 0.0; + out_671491409411989589[100] = 0.0; + out_671491409411989589[101] = 0.0; + out_671491409411989589[102] = 0.0; + out_671491409411989589[103] = 0.0; + out_671491409411989589[104] = 0.0; + out_671491409411989589[105] = 0.0; + out_671491409411989589[106] = 0.0; + out_671491409411989589[107] = 0.0; + out_671491409411989589[108] = 0.0; + out_671491409411989589[109] = 0.0; + out_671491409411989589[110] = 0.0; + out_671491409411989589[111] = 0.0; + out_671491409411989589[112] = 0.0; + out_671491409411989589[113] = 0.0; + out_671491409411989589[114] = 1.0; + out_671491409411989589[115] = 0.0; + out_671491409411989589[116] = 0.0; + out_671491409411989589[117] = 0.0; + out_671491409411989589[118] = 0.0; + out_671491409411989589[119] = 0.0; + out_671491409411989589[120] = 0.0; + out_671491409411989589[121] = 0.0; + out_671491409411989589[122] = 0.0; + out_671491409411989589[123] = 0.0; + out_671491409411989589[124] = 0.0; + out_671491409411989589[125] = 0.0; + out_671491409411989589[126] = 0.0; + out_671491409411989589[127] = 0.0; + out_671491409411989589[128] = 0.0; + out_671491409411989589[129] = 0.0; + out_671491409411989589[130] = 0.0; + out_671491409411989589[131] = 0.0; + out_671491409411989589[132] = 0.0; + out_671491409411989589[133] = 1.0; + out_671491409411989589[134] = 0.0; + out_671491409411989589[135] = 0.0; + out_671491409411989589[136] = 0.0; + out_671491409411989589[137] = 0.0; + out_671491409411989589[138] = 0.0; + out_671491409411989589[139] = 0.0; + out_671491409411989589[140] = 0.0; + out_671491409411989589[141] = 0.0; + out_671491409411989589[142] = 0.0; + out_671491409411989589[143] = 0.0; + out_671491409411989589[144] = 0.0; + out_671491409411989589[145] = 0.0; + out_671491409411989589[146] = 0.0; + out_671491409411989589[147] = 0.0; + out_671491409411989589[148] = 0.0; + out_671491409411989589[149] = 0.0; + out_671491409411989589[150] = 0.0; + out_671491409411989589[151] = 0.0; + out_671491409411989589[152] = 1.0; + out_671491409411989589[153] = 0.0; + out_671491409411989589[154] = 0.0; + out_671491409411989589[155] = 0.0; + out_671491409411989589[156] = 0.0; + out_671491409411989589[157] = 0.0; + out_671491409411989589[158] = 0.0; + out_671491409411989589[159] = 0.0; + out_671491409411989589[160] = 0.0; + out_671491409411989589[161] = 0.0; + out_671491409411989589[162] = 0.0; + out_671491409411989589[163] = 0.0; + out_671491409411989589[164] = 0.0; + out_671491409411989589[165] = 0.0; + out_671491409411989589[166] = 0.0; + out_671491409411989589[167] = 0.0; + out_671491409411989589[168] = 0.0; + out_671491409411989589[169] = 0.0; + out_671491409411989589[170] = 0.0; + out_671491409411989589[171] = 1.0; + out_671491409411989589[172] = 0.0; + out_671491409411989589[173] = 0.0; + out_671491409411989589[174] = 0.0; + out_671491409411989589[175] = 0.0; + out_671491409411989589[176] = 0.0; + out_671491409411989589[177] = 0.0; + out_671491409411989589[178] = 0.0; + out_671491409411989589[179] = 0.0; + out_671491409411989589[180] = 0.0; + out_671491409411989589[181] = 0.0; + out_671491409411989589[182] = 0.0; + out_671491409411989589[183] = 0.0; + out_671491409411989589[184] = 0.0; + out_671491409411989589[185] = 0.0; + out_671491409411989589[186] = 0.0; + out_671491409411989589[187] = 0.0; + out_671491409411989589[188] = 0.0; + out_671491409411989589[189] = 0.0; + out_671491409411989589[190] = 1.0; + out_671491409411989589[191] = 0.0; + out_671491409411989589[192] = 0.0; + out_671491409411989589[193] = 0.0; + out_671491409411989589[194] = 0.0; + out_671491409411989589[195] = 0.0; + out_671491409411989589[196] = 0.0; + out_671491409411989589[197] = 0.0; + out_671491409411989589[198] = 0.0; + out_671491409411989589[199] = 0.0; + out_671491409411989589[200] = 0.0; + out_671491409411989589[201] = 0.0; + out_671491409411989589[202] = 0.0; + out_671491409411989589[203] = 0.0; + out_671491409411989589[204] = 0.0; + out_671491409411989589[205] = 0.0; + out_671491409411989589[206] = 0.0; + out_671491409411989589[207] = 0.0; + out_671491409411989589[208] = 0.0; + out_671491409411989589[209] = 1.0; + out_671491409411989589[210] = 0.0; + out_671491409411989589[211] = 0.0; + out_671491409411989589[212] = 0.0; + out_671491409411989589[213] = 0.0; + out_671491409411989589[214] = 0.0; + out_671491409411989589[215] = 0.0; + out_671491409411989589[216] = 0.0; + out_671491409411989589[217] = 0.0; + out_671491409411989589[218] = 0.0; + out_671491409411989589[219] = 0.0; + out_671491409411989589[220] = 0.0; + out_671491409411989589[221] = 0.0; + out_671491409411989589[222] = 0.0; + out_671491409411989589[223] = 0.0; + out_671491409411989589[224] = 0.0; + out_671491409411989589[225] = 0.0; + out_671491409411989589[226] = 0.0; + out_671491409411989589[227] = 0.0; + out_671491409411989589[228] = 1.0; + out_671491409411989589[229] = 0.0; + out_671491409411989589[230] = 0.0; + out_671491409411989589[231] = 0.0; + out_671491409411989589[232] = 0.0; + out_671491409411989589[233] = 0.0; + out_671491409411989589[234] = 0.0; + out_671491409411989589[235] = 0.0; + out_671491409411989589[236] = 0.0; + out_671491409411989589[237] = 0.0; + out_671491409411989589[238] = 0.0; + out_671491409411989589[239] = 0.0; + out_671491409411989589[240] = 0.0; + out_671491409411989589[241] = 0.0; + out_671491409411989589[242] = 0.0; + out_671491409411989589[243] = 0.0; + out_671491409411989589[244] = 0.0; + out_671491409411989589[245] = 0.0; + out_671491409411989589[246] = 0.0; + out_671491409411989589[247] = 1.0; + out_671491409411989589[248] = 0.0; + out_671491409411989589[249] = 0.0; + out_671491409411989589[250] = 0.0; + out_671491409411989589[251] = 0.0; + out_671491409411989589[252] = 0.0; + out_671491409411989589[253] = 0.0; + out_671491409411989589[254] = 0.0; + out_671491409411989589[255] = 0.0; + out_671491409411989589[256] = 0.0; + out_671491409411989589[257] = 0.0; + out_671491409411989589[258] = 0.0; + out_671491409411989589[259] = 0.0; + out_671491409411989589[260] = 0.0; + out_671491409411989589[261] = 0.0; + out_671491409411989589[262] = 0.0; + out_671491409411989589[263] = 0.0; + out_671491409411989589[264] = 0.0; + out_671491409411989589[265] = 0.0; + out_671491409411989589[266] = 1.0; + out_671491409411989589[267] = 0.0; + out_671491409411989589[268] = 0.0; + out_671491409411989589[269] = 0.0; + out_671491409411989589[270] = 0.0; + out_671491409411989589[271] = 0.0; + out_671491409411989589[272] = 0.0; + out_671491409411989589[273] = 0.0; + out_671491409411989589[274] = 0.0; + out_671491409411989589[275] = 0.0; + out_671491409411989589[276] = 0.0; + out_671491409411989589[277] = 0.0; + out_671491409411989589[278] = 0.0; + out_671491409411989589[279] = 0.0; + out_671491409411989589[280] = 0.0; + out_671491409411989589[281] = 0.0; + out_671491409411989589[282] = 0.0; + out_671491409411989589[283] = 0.0; + out_671491409411989589[284] = 0.0; + out_671491409411989589[285] = 1.0; + out_671491409411989589[286] = 0.0; + out_671491409411989589[287] = 0.0; + out_671491409411989589[288] = 0.0; + out_671491409411989589[289] = 0.0; + out_671491409411989589[290] = 0.0; + out_671491409411989589[291] = 0.0; + out_671491409411989589[292] = 0.0; + out_671491409411989589[293] = 0.0; + out_671491409411989589[294] = 0.0; + out_671491409411989589[295] = 0.0; + out_671491409411989589[296] = 0.0; + out_671491409411989589[297] = 0.0; + out_671491409411989589[298] = 0.0; + out_671491409411989589[299] = 0.0; + out_671491409411989589[300] = 0.0; + out_671491409411989589[301] = 0.0; + out_671491409411989589[302] = 0.0; + out_671491409411989589[303] = 0.0; + out_671491409411989589[304] = 1.0; + out_671491409411989589[305] = 0.0; + out_671491409411989589[306] = 0.0; + out_671491409411989589[307] = 0.0; + out_671491409411989589[308] = 0.0; + out_671491409411989589[309] = 0.0; + out_671491409411989589[310] = 0.0; + out_671491409411989589[311] = 0.0; + out_671491409411989589[312] = 0.0; + out_671491409411989589[313] = 0.0; + out_671491409411989589[314] = 0.0; + out_671491409411989589[315] = 0.0; + out_671491409411989589[316] = 0.0; + out_671491409411989589[317] = 0.0; + out_671491409411989589[318] = 0.0; + out_671491409411989589[319] = 0.0; + out_671491409411989589[320] = 0.0; + out_671491409411989589[321] = 0.0; + out_671491409411989589[322] = 0.0; + out_671491409411989589[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4934931273554332776) { - out_4934931273554332776[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_4934931273554332776[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_4934931273554332776[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_4934931273554332776[3] = dt*state[12] + state[3]; - out_4934931273554332776[4] = dt*state[13] + state[4]; - out_4934931273554332776[5] = dt*state[14] + state[5]; - out_4934931273554332776[6] = state[6]; - out_4934931273554332776[7] = state[7]; - out_4934931273554332776[8] = state[8]; - out_4934931273554332776[9] = state[9]; - out_4934931273554332776[10] = state[10]; - out_4934931273554332776[11] = state[11]; - out_4934931273554332776[12] = state[12]; - out_4934931273554332776[13] = state[13]; - out_4934931273554332776[14] = state[14]; - out_4934931273554332776[15] = state[15]; - out_4934931273554332776[16] = state[16]; - out_4934931273554332776[17] = state[17]; +void f_fun(double *state, double dt, double *out_7919031781502386377) { + out_7919031781502386377[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_7919031781502386377[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_7919031781502386377[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_7919031781502386377[3] = dt*state[12] + state[3]; + out_7919031781502386377[4] = dt*state[13] + state[4]; + out_7919031781502386377[5] = dt*state[14] + state[5]; + out_7919031781502386377[6] = state[6]; + out_7919031781502386377[7] = state[7]; + out_7919031781502386377[8] = state[8]; + out_7919031781502386377[9] = state[9]; + out_7919031781502386377[10] = state[10]; + out_7919031781502386377[11] = state[11]; + out_7919031781502386377[12] = state[12]; + out_7919031781502386377[13] = state[13]; + out_7919031781502386377[14] = state[14]; + out_7919031781502386377[15] = state[15]; + out_7919031781502386377[16] = state[16]; + out_7919031781502386377[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3951309264317131877) { - out_3951309264317131877[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_3951309264317131877[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_3951309264317131877[2] = 0; - out_3951309264317131877[3] = 0; - out_3951309264317131877[4] = 0; - out_3951309264317131877[5] = 0; - out_3951309264317131877[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_3951309264317131877[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_3951309264317131877[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_3951309264317131877[9] = 0; - out_3951309264317131877[10] = 0; - out_3951309264317131877[11] = 0; - out_3951309264317131877[12] = 0; - out_3951309264317131877[13] = 0; - out_3951309264317131877[14] = 0; - out_3951309264317131877[15] = 0; - out_3951309264317131877[16] = 0; - out_3951309264317131877[17] = 0; - out_3951309264317131877[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_3951309264317131877[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_3951309264317131877[20] = 0; - out_3951309264317131877[21] = 0; - out_3951309264317131877[22] = 0; - out_3951309264317131877[23] = 0; - out_3951309264317131877[24] = 0; - out_3951309264317131877[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_3951309264317131877[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_3951309264317131877[27] = 0; - out_3951309264317131877[28] = 0; - out_3951309264317131877[29] = 0; - out_3951309264317131877[30] = 0; - out_3951309264317131877[31] = 0; - out_3951309264317131877[32] = 0; - out_3951309264317131877[33] = 0; - out_3951309264317131877[34] = 0; - out_3951309264317131877[35] = 0; - out_3951309264317131877[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_3951309264317131877[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_3951309264317131877[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_3951309264317131877[39] = 0; - out_3951309264317131877[40] = 0; - out_3951309264317131877[41] = 0; - out_3951309264317131877[42] = 0; - out_3951309264317131877[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_3951309264317131877[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_3951309264317131877[45] = 0; - out_3951309264317131877[46] = 0; - out_3951309264317131877[47] = 0; - out_3951309264317131877[48] = 0; - out_3951309264317131877[49] = 0; - out_3951309264317131877[50] = 0; - out_3951309264317131877[51] = 0; - out_3951309264317131877[52] = 0; - out_3951309264317131877[53] = 0; - out_3951309264317131877[54] = 0; - out_3951309264317131877[55] = 0; - out_3951309264317131877[56] = 0; - out_3951309264317131877[57] = 1; - out_3951309264317131877[58] = 0; - out_3951309264317131877[59] = 0; - out_3951309264317131877[60] = 0; - out_3951309264317131877[61] = 0; - out_3951309264317131877[62] = 0; - out_3951309264317131877[63] = 0; - out_3951309264317131877[64] = 0; - out_3951309264317131877[65] = 0; - out_3951309264317131877[66] = dt; - out_3951309264317131877[67] = 0; - out_3951309264317131877[68] = 0; - out_3951309264317131877[69] = 0; - out_3951309264317131877[70] = 0; - out_3951309264317131877[71] = 0; - out_3951309264317131877[72] = 0; - out_3951309264317131877[73] = 0; - out_3951309264317131877[74] = 0; - out_3951309264317131877[75] = 0; - out_3951309264317131877[76] = 1; - out_3951309264317131877[77] = 0; - out_3951309264317131877[78] = 0; - out_3951309264317131877[79] = 0; - out_3951309264317131877[80] = 0; - out_3951309264317131877[81] = 0; - out_3951309264317131877[82] = 0; - out_3951309264317131877[83] = 0; - out_3951309264317131877[84] = 0; - out_3951309264317131877[85] = dt; - out_3951309264317131877[86] = 0; - out_3951309264317131877[87] = 0; - out_3951309264317131877[88] = 0; - out_3951309264317131877[89] = 0; - out_3951309264317131877[90] = 0; - out_3951309264317131877[91] = 0; - out_3951309264317131877[92] = 0; - out_3951309264317131877[93] = 0; - out_3951309264317131877[94] = 0; - out_3951309264317131877[95] = 1; - out_3951309264317131877[96] = 0; - out_3951309264317131877[97] = 0; - out_3951309264317131877[98] = 0; - out_3951309264317131877[99] = 0; - out_3951309264317131877[100] = 0; - out_3951309264317131877[101] = 0; - out_3951309264317131877[102] = 0; - out_3951309264317131877[103] = 0; - out_3951309264317131877[104] = dt; - out_3951309264317131877[105] = 0; - out_3951309264317131877[106] = 0; - out_3951309264317131877[107] = 0; - out_3951309264317131877[108] = 0; - out_3951309264317131877[109] = 0; - out_3951309264317131877[110] = 0; - out_3951309264317131877[111] = 0; - out_3951309264317131877[112] = 0; - out_3951309264317131877[113] = 0; - out_3951309264317131877[114] = 1; - out_3951309264317131877[115] = 0; - out_3951309264317131877[116] = 0; - out_3951309264317131877[117] = 0; - out_3951309264317131877[118] = 0; - out_3951309264317131877[119] = 0; - out_3951309264317131877[120] = 0; - out_3951309264317131877[121] = 0; - out_3951309264317131877[122] = 0; - out_3951309264317131877[123] = 0; - out_3951309264317131877[124] = 0; - out_3951309264317131877[125] = 0; - out_3951309264317131877[126] = 0; - out_3951309264317131877[127] = 0; - out_3951309264317131877[128] = 0; - out_3951309264317131877[129] = 0; - out_3951309264317131877[130] = 0; - out_3951309264317131877[131] = 0; - out_3951309264317131877[132] = 0; - out_3951309264317131877[133] = 1; - out_3951309264317131877[134] = 0; - out_3951309264317131877[135] = 0; - out_3951309264317131877[136] = 0; - out_3951309264317131877[137] = 0; - out_3951309264317131877[138] = 0; - out_3951309264317131877[139] = 0; - out_3951309264317131877[140] = 0; - out_3951309264317131877[141] = 0; - out_3951309264317131877[142] = 0; - out_3951309264317131877[143] = 0; - out_3951309264317131877[144] = 0; - out_3951309264317131877[145] = 0; - out_3951309264317131877[146] = 0; - out_3951309264317131877[147] = 0; - out_3951309264317131877[148] = 0; - out_3951309264317131877[149] = 0; - out_3951309264317131877[150] = 0; - out_3951309264317131877[151] = 0; - out_3951309264317131877[152] = 1; - out_3951309264317131877[153] = 0; - out_3951309264317131877[154] = 0; - out_3951309264317131877[155] = 0; - out_3951309264317131877[156] = 0; - out_3951309264317131877[157] = 0; - out_3951309264317131877[158] = 0; - out_3951309264317131877[159] = 0; - out_3951309264317131877[160] = 0; - out_3951309264317131877[161] = 0; - out_3951309264317131877[162] = 0; - out_3951309264317131877[163] = 0; - out_3951309264317131877[164] = 0; - out_3951309264317131877[165] = 0; - out_3951309264317131877[166] = 0; - out_3951309264317131877[167] = 0; - out_3951309264317131877[168] = 0; - out_3951309264317131877[169] = 0; - out_3951309264317131877[170] = 0; - out_3951309264317131877[171] = 1; - out_3951309264317131877[172] = 0; - out_3951309264317131877[173] = 0; - out_3951309264317131877[174] = 0; - out_3951309264317131877[175] = 0; - out_3951309264317131877[176] = 0; - out_3951309264317131877[177] = 0; - out_3951309264317131877[178] = 0; - out_3951309264317131877[179] = 0; - out_3951309264317131877[180] = 0; - out_3951309264317131877[181] = 0; - out_3951309264317131877[182] = 0; - out_3951309264317131877[183] = 0; - out_3951309264317131877[184] = 0; - out_3951309264317131877[185] = 0; - out_3951309264317131877[186] = 0; - out_3951309264317131877[187] = 0; - out_3951309264317131877[188] = 0; - out_3951309264317131877[189] = 0; - out_3951309264317131877[190] = 1; - out_3951309264317131877[191] = 0; - out_3951309264317131877[192] = 0; - out_3951309264317131877[193] = 0; - out_3951309264317131877[194] = 0; - out_3951309264317131877[195] = 0; - out_3951309264317131877[196] = 0; - out_3951309264317131877[197] = 0; - out_3951309264317131877[198] = 0; - out_3951309264317131877[199] = 0; - out_3951309264317131877[200] = 0; - out_3951309264317131877[201] = 0; - out_3951309264317131877[202] = 0; - out_3951309264317131877[203] = 0; - out_3951309264317131877[204] = 0; - out_3951309264317131877[205] = 0; - out_3951309264317131877[206] = 0; - out_3951309264317131877[207] = 0; - out_3951309264317131877[208] = 0; - out_3951309264317131877[209] = 1; - out_3951309264317131877[210] = 0; - out_3951309264317131877[211] = 0; - out_3951309264317131877[212] = 0; - out_3951309264317131877[213] = 0; - out_3951309264317131877[214] = 0; - out_3951309264317131877[215] = 0; - out_3951309264317131877[216] = 0; - out_3951309264317131877[217] = 0; - out_3951309264317131877[218] = 0; - out_3951309264317131877[219] = 0; - out_3951309264317131877[220] = 0; - out_3951309264317131877[221] = 0; - out_3951309264317131877[222] = 0; - out_3951309264317131877[223] = 0; - out_3951309264317131877[224] = 0; - out_3951309264317131877[225] = 0; - out_3951309264317131877[226] = 0; - out_3951309264317131877[227] = 0; - out_3951309264317131877[228] = 1; - out_3951309264317131877[229] = 0; - out_3951309264317131877[230] = 0; - out_3951309264317131877[231] = 0; - out_3951309264317131877[232] = 0; - out_3951309264317131877[233] = 0; - out_3951309264317131877[234] = 0; - out_3951309264317131877[235] = 0; - out_3951309264317131877[236] = 0; - out_3951309264317131877[237] = 0; - out_3951309264317131877[238] = 0; - out_3951309264317131877[239] = 0; - out_3951309264317131877[240] = 0; - out_3951309264317131877[241] = 0; - out_3951309264317131877[242] = 0; - out_3951309264317131877[243] = 0; - out_3951309264317131877[244] = 0; - out_3951309264317131877[245] = 0; - out_3951309264317131877[246] = 0; - out_3951309264317131877[247] = 1; - out_3951309264317131877[248] = 0; - out_3951309264317131877[249] = 0; - out_3951309264317131877[250] = 0; - out_3951309264317131877[251] = 0; - out_3951309264317131877[252] = 0; - out_3951309264317131877[253] = 0; - out_3951309264317131877[254] = 0; - out_3951309264317131877[255] = 0; - out_3951309264317131877[256] = 0; - out_3951309264317131877[257] = 0; - out_3951309264317131877[258] = 0; - out_3951309264317131877[259] = 0; - out_3951309264317131877[260] = 0; - out_3951309264317131877[261] = 0; - out_3951309264317131877[262] = 0; - out_3951309264317131877[263] = 0; - out_3951309264317131877[264] = 0; - out_3951309264317131877[265] = 0; - out_3951309264317131877[266] = 1; - out_3951309264317131877[267] = 0; - out_3951309264317131877[268] = 0; - out_3951309264317131877[269] = 0; - out_3951309264317131877[270] = 0; - out_3951309264317131877[271] = 0; - out_3951309264317131877[272] = 0; - out_3951309264317131877[273] = 0; - out_3951309264317131877[274] = 0; - out_3951309264317131877[275] = 0; - out_3951309264317131877[276] = 0; - out_3951309264317131877[277] = 0; - out_3951309264317131877[278] = 0; - out_3951309264317131877[279] = 0; - out_3951309264317131877[280] = 0; - out_3951309264317131877[281] = 0; - out_3951309264317131877[282] = 0; - out_3951309264317131877[283] = 0; - out_3951309264317131877[284] = 0; - out_3951309264317131877[285] = 1; - out_3951309264317131877[286] = 0; - out_3951309264317131877[287] = 0; - out_3951309264317131877[288] = 0; - out_3951309264317131877[289] = 0; - out_3951309264317131877[290] = 0; - out_3951309264317131877[291] = 0; - out_3951309264317131877[292] = 0; - out_3951309264317131877[293] = 0; - out_3951309264317131877[294] = 0; - out_3951309264317131877[295] = 0; - out_3951309264317131877[296] = 0; - out_3951309264317131877[297] = 0; - out_3951309264317131877[298] = 0; - out_3951309264317131877[299] = 0; - out_3951309264317131877[300] = 0; - out_3951309264317131877[301] = 0; - out_3951309264317131877[302] = 0; - out_3951309264317131877[303] = 0; - out_3951309264317131877[304] = 1; - out_3951309264317131877[305] = 0; - out_3951309264317131877[306] = 0; - out_3951309264317131877[307] = 0; - out_3951309264317131877[308] = 0; - out_3951309264317131877[309] = 0; - out_3951309264317131877[310] = 0; - out_3951309264317131877[311] = 0; - out_3951309264317131877[312] = 0; - out_3951309264317131877[313] = 0; - out_3951309264317131877[314] = 0; - out_3951309264317131877[315] = 0; - out_3951309264317131877[316] = 0; - out_3951309264317131877[317] = 0; - out_3951309264317131877[318] = 0; - out_3951309264317131877[319] = 0; - out_3951309264317131877[320] = 0; - out_3951309264317131877[321] = 0; - out_3951309264317131877[322] = 0; - out_3951309264317131877[323] = 1; +void F_fun(double *state, double dt, double *out_7380360880106775220) { + out_7380360880106775220[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_7380360880106775220[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_7380360880106775220[2] = 0; + out_7380360880106775220[3] = 0; + out_7380360880106775220[4] = 0; + out_7380360880106775220[5] = 0; + out_7380360880106775220[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_7380360880106775220[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_7380360880106775220[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_7380360880106775220[9] = 0; + out_7380360880106775220[10] = 0; + out_7380360880106775220[11] = 0; + out_7380360880106775220[12] = 0; + out_7380360880106775220[13] = 0; + out_7380360880106775220[14] = 0; + out_7380360880106775220[15] = 0; + out_7380360880106775220[16] = 0; + out_7380360880106775220[17] = 0; + out_7380360880106775220[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_7380360880106775220[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_7380360880106775220[20] = 0; + out_7380360880106775220[21] = 0; + out_7380360880106775220[22] = 0; + out_7380360880106775220[23] = 0; + out_7380360880106775220[24] = 0; + out_7380360880106775220[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_7380360880106775220[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_7380360880106775220[27] = 0; + out_7380360880106775220[28] = 0; + out_7380360880106775220[29] = 0; + out_7380360880106775220[30] = 0; + out_7380360880106775220[31] = 0; + out_7380360880106775220[32] = 0; + out_7380360880106775220[33] = 0; + out_7380360880106775220[34] = 0; + out_7380360880106775220[35] = 0; + out_7380360880106775220[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_7380360880106775220[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_7380360880106775220[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_7380360880106775220[39] = 0; + out_7380360880106775220[40] = 0; + out_7380360880106775220[41] = 0; + out_7380360880106775220[42] = 0; + out_7380360880106775220[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_7380360880106775220[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_7380360880106775220[45] = 0; + out_7380360880106775220[46] = 0; + out_7380360880106775220[47] = 0; + out_7380360880106775220[48] = 0; + out_7380360880106775220[49] = 0; + out_7380360880106775220[50] = 0; + out_7380360880106775220[51] = 0; + out_7380360880106775220[52] = 0; + out_7380360880106775220[53] = 0; + out_7380360880106775220[54] = 0; + out_7380360880106775220[55] = 0; + out_7380360880106775220[56] = 0; + out_7380360880106775220[57] = 1; + out_7380360880106775220[58] = 0; + out_7380360880106775220[59] = 0; + out_7380360880106775220[60] = 0; + out_7380360880106775220[61] = 0; + out_7380360880106775220[62] = 0; + out_7380360880106775220[63] = 0; + out_7380360880106775220[64] = 0; + out_7380360880106775220[65] = 0; + out_7380360880106775220[66] = dt; + out_7380360880106775220[67] = 0; + out_7380360880106775220[68] = 0; + out_7380360880106775220[69] = 0; + out_7380360880106775220[70] = 0; + out_7380360880106775220[71] = 0; + out_7380360880106775220[72] = 0; + out_7380360880106775220[73] = 0; + out_7380360880106775220[74] = 0; + out_7380360880106775220[75] = 0; + out_7380360880106775220[76] = 1; + out_7380360880106775220[77] = 0; + out_7380360880106775220[78] = 0; + out_7380360880106775220[79] = 0; + out_7380360880106775220[80] = 0; + out_7380360880106775220[81] = 0; + out_7380360880106775220[82] = 0; + out_7380360880106775220[83] = 0; + out_7380360880106775220[84] = 0; + out_7380360880106775220[85] = dt; + out_7380360880106775220[86] = 0; + out_7380360880106775220[87] = 0; + out_7380360880106775220[88] = 0; + out_7380360880106775220[89] = 0; + out_7380360880106775220[90] = 0; + out_7380360880106775220[91] = 0; + out_7380360880106775220[92] = 0; + out_7380360880106775220[93] = 0; + out_7380360880106775220[94] = 0; + out_7380360880106775220[95] = 1; + out_7380360880106775220[96] = 0; + out_7380360880106775220[97] = 0; + out_7380360880106775220[98] = 0; + out_7380360880106775220[99] = 0; + out_7380360880106775220[100] = 0; + out_7380360880106775220[101] = 0; + out_7380360880106775220[102] = 0; + out_7380360880106775220[103] = 0; + out_7380360880106775220[104] = dt; + out_7380360880106775220[105] = 0; + out_7380360880106775220[106] = 0; + out_7380360880106775220[107] = 0; + out_7380360880106775220[108] = 0; + out_7380360880106775220[109] = 0; + out_7380360880106775220[110] = 0; + out_7380360880106775220[111] = 0; + out_7380360880106775220[112] = 0; + out_7380360880106775220[113] = 0; + out_7380360880106775220[114] = 1; + out_7380360880106775220[115] = 0; + out_7380360880106775220[116] = 0; + out_7380360880106775220[117] = 0; + out_7380360880106775220[118] = 0; + out_7380360880106775220[119] = 0; + out_7380360880106775220[120] = 0; + out_7380360880106775220[121] = 0; + out_7380360880106775220[122] = 0; + out_7380360880106775220[123] = 0; + out_7380360880106775220[124] = 0; + out_7380360880106775220[125] = 0; + out_7380360880106775220[126] = 0; + out_7380360880106775220[127] = 0; + out_7380360880106775220[128] = 0; + out_7380360880106775220[129] = 0; + out_7380360880106775220[130] = 0; + out_7380360880106775220[131] = 0; + out_7380360880106775220[132] = 0; + out_7380360880106775220[133] = 1; + out_7380360880106775220[134] = 0; + out_7380360880106775220[135] = 0; + out_7380360880106775220[136] = 0; + out_7380360880106775220[137] = 0; + out_7380360880106775220[138] = 0; + out_7380360880106775220[139] = 0; + out_7380360880106775220[140] = 0; + out_7380360880106775220[141] = 0; + out_7380360880106775220[142] = 0; + out_7380360880106775220[143] = 0; + out_7380360880106775220[144] = 0; + out_7380360880106775220[145] = 0; + out_7380360880106775220[146] = 0; + out_7380360880106775220[147] = 0; + out_7380360880106775220[148] = 0; + out_7380360880106775220[149] = 0; + out_7380360880106775220[150] = 0; + out_7380360880106775220[151] = 0; + out_7380360880106775220[152] = 1; + out_7380360880106775220[153] = 0; + out_7380360880106775220[154] = 0; + out_7380360880106775220[155] = 0; + out_7380360880106775220[156] = 0; + out_7380360880106775220[157] = 0; + out_7380360880106775220[158] = 0; + out_7380360880106775220[159] = 0; + out_7380360880106775220[160] = 0; + out_7380360880106775220[161] = 0; + out_7380360880106775220[162] = 0; + out_7380360880106775220[163] = 0; + out_7380360880106775220[164] = 0; + out_7380360880106775220[165] = 0; + out_7380360880106775220[166] = 0; + out_7380360880106775220[167] = 0; + out_7380360880106775220[168] = 0; + out_7380360880106775220[169] = 0; + out_7380360880106775220[170] = 0; + out_7380360880106775220[171] = 1; + out_7380360880106775220[172] = 0; + out_7380360880106775220[173] = 0; + out_7380360880106775220[174] = 0; + out_7380360880106775220[175] = 0; + out_7380360880106775220[176] = 0; + out_7380360880106775220[177] = 0; + out_7380360880106775220[178] = 0; + out_7380360880106775220[179] = 0; + out_7380360880106775220[180] = 0; + out_7380360880106775220[181] = 0; + out_7380360880106775220[182] = 0; + out_7380360880106775220[183] = 0; + out_7380360880106775220[184] = 0; + out_7380360880106775220[185] = 0; + out_7380360880106775220[186] = 0; + out_7380360880106775220[187] = 0; + out_7380360880106775220[188] = 0; + out_7380360880106775220[189] = 0; + out_7380360880106775220[190] = 1; + out_7380360880106775220[191] = 0; + out_7380360880106775220[192] = 0; + out_7380360880106775220[193] = 0; + out_7380360880106775220[194] = 0; + out_7380360880106775220[195] = 0; + out_7380360880106775220[196] = 0; + out_7380360880106775220[197] = 0; + out_7380360880106775220[198] = 0; + out_7380360880106775220[199] = 0; + out_7380360880106775220[200] = 0; + out_7380360880106775220[201] = 0; + out_7380360880106775220[202] = 0; + out_7380360880106775220[203] = 0; + out_7380360880106775220[204] = 0; + out_7380360880106775220[205] = 0; + out_7380360880106775220[206] = 0; + out_7380360880106775220[207] = 0; + out_7380360880106775220[208] = 0; + out_7380360880106775220[209] = 1; + out_7380360880106775220[210] = 0; + out_7380360880106775220[211] = 0; + out_7380360880106775220[212] = 0; + out_7380360880106775220[213] = 0; + out_7380360880106775220[214] = 0; + out_7380360880106775220[215] = 0; + out_7380360880106775220[216] = 0; + out_7380360880106775220[217] = 0; + out_7380360880106775220[218] = 0; + out_7380360880106775220[219] = 0; + out_7380360880106775220[220] = 0; + out_7380360880106775220[221] = 0; + out_7380360880106775220[222] = 0; + out_7380360880106775220[223] = 0; + out_7380360880106775220[224] = 0; + out_7380360880106775220[225] = 0; + out_7380360880106775220[226] = 0; + out_7380360880106775220[227] = 0; + out_7380360880106775220[228] = 1; + out_7380360880106775220[229] = 0; + out_7380360880106775220[230] = 0; + out_7380360880106775220[231] = 0; + out_7380360880106775220[232] = 0; + out_7380360880106775220[233] = 0; + out_7380360880106775220[234] = 0; + out_7380360880106775220[235] = 0; + out_7380360880106775220[236] = 0; + out_7380360880106775220[237] = 0; + out_7380360880106775220[238] = 0; + out_7380360880106775220[239] = 0; + out_7380360880106775220[240] = 0; + out_7380360880106775220[241] = 0; + out_7380360880106775220[242] = 0; + out_7380360880106775220[243] = 0; + out_7380360880106775220[244] = 0; + out_7380360880106775220[245] = 0; + out_7380360880106775220[246] = 0; + out_7380360880106775220[247] = 1; + out_7380360880106775220[248] = 0; + out_7380360880106775220[249] = 0; + out_7380360880106775220[250] = 0; + out_7380360880106775220[251] = 0; + out_7380360880106775220[252] = 0; + out_7380360880106775220[253] = 0; + out_7380360880106775220[254] = 0; + out_7380360880106775220[255] = 0; + out_7380360880106775220[256] = 0; + out_7380360880106775220[257] = 0; + out_7380360880106775220[258] = 0; + out_7380360880106775220[259] = 0; + out_7380360880106775220[260] = 0; + out_7380360880106775220[261] = 0; + out_7380360880106775220[262] = 0; + out_7380360880106775220[263] = 0; + out_7380360880106775220[264] = 0; + out_7380360880106775220[265] = 0; + out_7380360880106775220[266] = 1; + out_7380360880106775220[267] = 0; + out_7380360880106775220[268] = 0; + out_7380360880106775220[269] = 0; + out_7380360880106775220[270] = 0; + out_7380360880106775220[271] = 0; + out_7380360880106775220[272] = 0; + out_7380360880106775220[273] = 0; + out_7380360880106775220[274] = 0; + out_7380360880106775220[275] = 0; + out_7380360880106775220[276] = 0; + out_7380360880106775220[277] = 0; + out_7380360880106775220[278] = 0; + out_7380360880106775220[279] = 0; + out_7380360880106775220[280] = 0; + out_7380360880106775220[281] = 0; + out_7380360880106775220[282] = 0; + out_7380360880106775220[283] = 0; + out_7380360880106775220[284] = 0; + out_7380360880106775220[285] = 1; + out_7380360880106775220[286] = 0; + out_7380360880106775220[287] = 0; + out_7380360880106775220[288] = 0; + out_7380360880106775220[289] = 0; + out_7380360880106775220[290] = 0; + out_7380360880106775220[291] = 0; + out_7380360880106775220[292] = 0; + out_7380360880106775220[293] = 0; + out_7380360880106775220[294] = 0; + out_7380360880106775220[295] = 0; + out_7380360880106775220[296] = 0; + out_7380360880106775220[297] = 0; + out_7380360880106775220[298] = 0; + out_7380360880106775220[299] = 0; + out_7380360880106775220[300] = 0; + out_7380360880106775220[301] = 0; + out_7380360880106775220[302] = 0; + out_7380360880106775220[303] = 0; + out_7380360880106775220[304] = 1; + out_7380360880106775220[305] = 0; + out_7380360880106775220[306] = 0; + out_7380360880106775220[307] = 0; + out_7380360880106775220[308] = 0; + out_7380360880106775220[309] = 0; + out_7380360880106775220[310] = 0; + out_7380360880106775220[311] = 0; + out_7380360880106775220[312] = 0; + out_7380360880106775220[313] = 0; + out_7380360880106775220[314] = 0; + out_7380360880106775220[315] = 0; + out_7380360880106775220[316] = 0; + out_7380360880106775220[317] = 0; + out_7380360880106775220[318] = 0; + out_7380360880106775220[319] = 0; + out_7380360880106775220[320] = 0; + out_7380360880106775220[321] = 0; + out_7380360880106775220[322] = 0; + out_7380360880106775220[323] = 1; } -void h_4(double *state, double *unused, double *out_9124951261160774984) { - out_9124951261160774984[0] = state[6] + state[9]; - out_9124951261160774984[1] = state[7] + state[10]; - out_9124951261160774984[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_4702057929225754412) { + out_4702057929225754412[0] = state[6] + state[9]; + out_4702057929225754412[1] = state[7] + state[10]; + out_4702057929225754412[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1981390687992897839) { - out_1981390687992897839[0] = 0; - out_1981390687992897839[1] = 0; - out_1981390687992897839[2] = 0; - out_1981390687992897839[3] = 0; - out_1981390687992897839[4] = 0; - out_1981390687992897839[5] = 0; - out_1981390687992897839[6] = 1; - out_1981390687992897839[7] = 0; - out_1981390687992897839[8] = 0; - out_1981390687992897839[9] = 1; - out_1981390687992897839[10] = 0; - out_1981390687992897839[11] = 0; - out_1981390687992897839[12] = 0; - out_1981390687992897839[13] = 0; - out_1981390687992897839[14] = 0; - out_1981390687992897839[15] = 0; - out_1981390687992897839[16] = 0; - out_1981390687992897839[17] = 0; - out_1981390687992897839[18] = 0; - out_1981390687992897839[19] = 0; - out_1981390687992897839[20] = 0; - out_1981390687992897839[21] = 0; - out_1981390687992897839[22] = 0; - out_1981390687992897839[23] = 0; - out_1981390687992897839[24] = 0; - out_1981390687992897839[25] = 1; - out_1981390687992897839[26] = 0; - out_1981390687992897839[27] = 0; - out_1981390687992897839[28] = 1; - out_1981390687992897839[29] = 0; - out_1981390687992897839[30] = 0; - out_1981390687992897839[31] = 0; - out_1981390687992897839[32] = 0; - out_1981390687992897839[33] = 0; - out_1981390687992897839[34] = 0; - out_1981390687992897839[35] = 0; - out_1981390687992897839[36] = 0; - out_1981390687992897839[37] = 0; - out_1981390687992897839[38] = 0; - out_1981390687992897839[39] = 0; - out_1981390687992897839[40] = 0; - out_1981390687992897839[41] = 0; - out_1981390687992897839[42] = 0; - out_1981390687992897839[43] = 0; - out_1981390687992897839[44] = 1; - out_1981390687992897839[45] = 0; - out_1981390687992897839[46] = 0; - out_1981390687992897839[47] = 1; - out_1981390687992897839[48] = 0; - out_1981390687992897839[49] = 0; - out_1981390687992897839[50] = 0; - out_1981390687992897839[51] = 0; - out_1981390687992897839[52] = 0; - out_1981390687992897839[53] = 0; +void H_4(double *state, double *unused, double *out_3100315800431917983) { + out_3100315800431917983[0] = 0; + out_3100315800431917983[1] = 0; + out_3100315800431917983[2] = 0; + out_3100315800431917983[3] = 0; + out_3100315800431917983[4] = 0; + out_3100315800431917983[5] = 0; + out_3100315800431917983[6] = 1; + out_3100315800431917983[7] = 0; + out_3100315800431917983[8] = 0; + out_3100315800431917983[9] = 1; + out_3100315800431917983[10] = 0; + out_3100315800431917983[11] = 0; + out_3100315800431917983[12] = 0; + out_3100315800431917983[13] = 0; + out_3100315800431917983[14] = 0; + out_3100315800431917983[15] = 0; + out_3100315800431917983[16] = 0; + out_3100315800431917983[17] = 0; + out_3100315800431917983[18] = 0; + out_3100315800431917983[19] = 0; + out_3100315800431917983[20] = 0; + out_3100315800431917983[21] = 0; + out_3100315800431917983[22] = 0; + out_3100315800431917983[23] = 0; + out_3100315800431917983[24] = 0; + out_3100315800431917983[25] = 1; + out_3100315800431917983[26] = 0; + out_3100315800431917983[27] = 0; + out_3100315800431917983[28] = 1; + out_3100315800431917983[29] = 0; + out_3100315800431917983[30] = 0; + out_3100315800431917983[31] = 0; + out_3100315800431917983[32] = 0; + out_3100315800431917983[33] = 0; + out_3100315800431917983[34] = 0; + out_3100315800431917983[35] = 0; + out_3100315800431917983[36] = 0; + out_3100315800431917983[37] = 0; + out_3100315800431917983[38] = 0; + out_3100315800431917983[39] = 0; + out_3100315800431917983[40] = 0; + out_3100315800431917983[41] = 0; + out_3100315800431917983[42] = 0; + out_3100315800431917983[43] = 0; + out_3100315800431917983[44] = 1; + out_3100315800431917983[45] = 0; + out_3100315800431917983[46] = 0; + out_3100315800431917983[47] = 1; + out_3100315800431917983[48] = 0; + out_3100315800431917983[49] = 0; + out_3100315800431917983[50] = 0; + out_3100315800431917983[51] = 0; + out_3100315800431917983[52] = 0; + out_3100315800431917983[53] = 0; } -void h_10(double *state, double *unused, double *out_5902756371163799354) { - out_5902756371163799354[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5902756371163799354[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5902756371163799354[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_1901997026290432130) { + out_1901997026290432130[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1901997026290432130[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1901997026290432130[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_3301172069868817257) { - out_3301172069868817257[0] = 0; - out_3301172069868817257[1] = 9.8100000000000005*cos(state[1]); - out_3301172069868817257[2] = 0; - out_3301172069868817257[3] = 0; - out_3301172069868817257[4] = -state[8]; - out_3301172069868817257[5] = state[7]; - out_3301172069868817257[6] = 0; - out_3301172069868817257[7] = state[5]; - out_3301172069868817257[8] = -state[4]; - out_3301172069868817257[9] = 0; - out_3301172069868817257[10] = 0; - out_3301172069868817257[11] = 0; - out_3301172069868817257[12] = 1; - out_3301172069868817257[13] = 0; - out_3301172069868817257[14] = 0; - out_3301172069868817257[15] = 1; - out_3301172069868817257[16] = 0; - out_3301172069868817257[17] = 0; - out_3301172069868817257[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3301172069868817257[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3301172069868817257[20] = 0; - out_3301172069868817257[21] = state[8]; - out_3301172069868817257[22] = 0; - out_3301172069868817257[23] = -state[6]; - out_3301172069868817257[24] = -state[5]; - out_3301172069868817257[25] = 0; - out_3301172069868817257[26] = state[3]; - out_3301172069868817257[27] = 0; - out_3301172069868817257[28] = 0; - out_3301172069868817257[29] = 0; - out_3301172069868817257[30] = 0; - out_3301172069868817257[31] = 1; - out_3301172069868817257[32] = 0; - out_3301172069868817257[33] = 0; - out_3301172069868817257[34] = 1; - out_3301172069868817257[35] = 0; - out_3301172069868817257[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3301172069868817257[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3301172069868817257[38] = 0; - out_3301172069868817257[39] = -state[7]; - out_3301172069868817257[40] = state[6]; - out_3301172069868817257[41] = 0; - out_3301172069868817257[42] = state[4]; - out_3301172069868817257[43] = -state[3]; - out_3301172069868817257[44] = 0; - out_3301172069868817257[45] = 0; - out_3301172069868817257[46] = 0; - out_3301172069868817257[47] = 0; - out_3301172069868817257[48] = 0; - out_3301172069868817257[49] = 0; - out_3301172069868817257[50] = 1; - out_3301172069868817257[51] = 0; - out_3301172069868817257[52] = 0; - out_3301172069868817257[53] = 1; +void H_10(double *state, double *unused, double *out_5200655737232907775) { + out_5200655737232907775[0] = 0; + out_5200655737232907775[1] = 9.8100000000000005*cos(state[1]); + out_5200655737232907775[2] = 0; + out_5200655737232907775[3] = 0; + out_5200655737232907775[4] = -state[8]; + out_5200655737232907775[5] = state[7]; + out_5200655737232907775[6] = 0; + out_5200655737232907775[7] = state[5]; + out_5200655737232907775[8] = -state[4]; + out_5200655737232907775[9] = 0; + out_5200655737232907775[10] = 0; + out_5200655737232907775[11] = 0; + out_5200655737232907775[12] = 1; + out_5200655737232907775[13] = 0; + out_5200655737232907775[14] = 0; + out_5200655737232907775[15] = 1; + out_5200655737232907775[16] = 0; + out_5200655737232907775[17] = 0; + out_5200655737232907775[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5200655737232907775[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5200655737232907775[20] = 0; + out_5200655737232907775[21] = state[8]; + out_5200655737232907775[22] = 0; + out_5200655737232907775[23] = -state[6]; + out_5200655737232907775[24] = -state[5]; + out_5200655737232907775[25] = 0; + out_5200655737232907775[26] = state[3]; + out_5200655737232907775[27] = 0; + out_5200655737232907775[28] = 0; + out_5200655737232907775[29] = 0; + out_5200655737232907775[30] = 0; + out_5200655737232907775[31] = 1; + out_5200655737232907775[32] = 0; + out_5200655737232907775[33] = 0; + out_5200655737232907775[34] = 1; + out_5200655737232907775[35] = 0; + out_5200655737232907775[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5200655737232907775[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5200655737232907775[38] = 0; + out_5200655737232907775[39] = -state[7]; + out_5200655737232907775[40] = state[6]; + out_5200655737232907775[41] = 0; + out_5200655737232907775[42] = state[4]; + out_5200655737232907775[43] = -state[3]; + out_5200655737232907775[44] = 0; + out_5200655737232907775[45] = 0; + out_5200655737232907775[46] = 0; + out_5200655737232907775[47] = 0; + out_5200655737232907775[48] = 0; + out_5200655737232907775[49] = 0; + out_5200655737232907775[50] = 1; + out_5200655737232907775[51] = 0; + out_5200655737232907775[52] = 0; + out_5200655737232907775[53] = 1; } -void h_13(double *state, double *unused, double *out_1037730484658777493) { - out_1037730484658777493[0] = state[3]; - out_1037730484658777493[1] = state[4]; - out_1037730484658777493[2] = state[5]; +void h_13(double *state, double *unused, double *out_6749072148499604094) { + out_6749072148499604094[0] = state[3]; + out_6749072148499604094[1] = state[4]; + out_6749072148499604094[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1230883137339434962) { - out_1230883137339434962[0] = 0; - out_1230883137339434962[1] = 0; - out_1230883137339434962[2] = 0; - out_1230883137339434962[3] = 1; - out_1230883137339434962[4] = 0; - out_1230883137339434962[5] = 0; - out_1230883137339434962[6] = 0; - out_1230883137339434962[7] = 0; - out_1230883137339434962[8] = 0; - out_1230883137339434962[9] = 0; - out_1230883137339434962[10] = 0; - out_1230883137339434962[11] = 0; - out_1230883137339434962[12] = 0; - out_1230883137339434962[13] = 0; - out_1230883137339434962[14] = 0; - out_1230883137339434962[15] = 0; - out_1230883137339434962[16] = 0; - out_1230883137339434962[17] = 0; - out_1230883137339434962[18] = 0; - out_1230883137339434962[19] = 0; - out_1230883137339434962[20] = 0; - out_1230883137339434962[21] = 0; - out_1230883137339434962[22] = 1; - out_1230883137339434962[23] = 0; - out_1230883137339434962[24] = 0; - out_1230883137339434962[25] = 0; - out_1230883137339434962[26] = 0; - out_1230883137339434962[27] = 0; - out_1230883137339434962[28] = 0; - out_1230883137339434962[29] = 0; - out_1230883137339434962[30] = 0; - out_1230883137339434962[31] = 0; - out_1230883137339434962[32] = 0; - out_1230883137339434962[33] = 0; - out_1230883137339434962[34] = 0; - out_1230883137339434962[35] = 0; - out_1230883137339434962[36] = 0; - out_1230883137339434962[37] = 0; - out_1230883137339434962[38] = 0; - out_1230883137339434962[39] = 0; - out_1230883137339434962[40] = 0; - out_1230883137339434962[41] = 1; - out_1230883137339434962[42] = 0; - out_1230883137339434962[43] = 0; - out_1230883137339434962[44] = 0; - out_1230883137339434962[45] = 0; - out_1230883137339434962[46] = 0; - out_1230883137339434962[47] = 0; - out_1230883137339434962[48] = 0; - out_1230883137339434962[49] = 0; - out_1230883137339434962[50] = 0; - out_1230883137339434962[51] = 0; - out_1230883137339434962[52] = 0; - out_1230883137339434962[53] = 0; +void H_13(double *state, double *unused, double *out_6312589625764250784) { + out_6312589625764250784[0] = 0; + out_6312589625764250784[1] = 0; + out_6312589625764250784[2] = 0; + out_6312589625764250784[3] = 1; + out_6312589625764250784[4] = 0; + out_6312589625764250784[5] = 0; + out_6312589625764250784[6] = 0; + out_6312589625764250784[7] = 0; + out_6312589625764250784[8] = 0; + out_6312589625764250784[9] = 0; + out_6312589625764250784[10] = 0; + out_6312589625764250784[11] = 0; + out_6312589625764250784[12] = 0; + out_6312589625764250784[13] = 0; + out_6312589625764250784[14] = 0; + out_6312589625764250784[15] = 0; + out_6312589625764250784[16] = 0; + out_6312589625764250784[17] = 0; + out_6312589625764250784[18] = 0; + out_6312589625764250784[19] = 0; + out_6312589625764250784[20] = 0; + out_6312589625764250784[21] = 0; + out_6312589625764250784[22] = 1; + out_6312589625764250784[23] = 0; + out_6312589625764250784[24] = 0; + out_6312589625764250784[25] = 0; + out_6312589625764250784[26] = 0; + out_6312589625764250784[27] = 0; + out_6312589625764250784[28] = 0; + out_6312589625764250784[29] = 0; + out_6312589625764250784[30] = 0; + out_6312589625764250784[31] = 0; + out_6312589625764250784[32] = 0; + out_6312589625764250784[33] = 0; + out_6312589625764250784[34] = 0; + out_6312589625764250784[35] = 0; + out_6312589625764250784[36] = 0; + out_6312589625764250784[37] = 0; + out_6312589625764250784[38] = 0; + out_6312589625764250784[39] = 0; + out_6312589625764250784[40] = 0; + out_6312589625764250784[41] = 1; + out_6312589625764250784[42] = 0; + out_6312589625764250784[43] = 0; + out_6312589625764250784[44] = 0; + out_6312589625764250784[45] = 0; + out_6312589625764250784[46] = 0; + out_6312589625764250784[47] = 0; + out_6312589625764250784[48] = 0; + out_6312589625764250784[49] = 0; + out_6312589625764250784[50] = 0; + out_6312589625764250784[51] = 0; + out_6312589625764250784[52] = 0; + out_6312589625764250784[53] = 0; } -void h_14(double *state, double *unused, double *out_8550422043798884554) { - out_8550422043798884554[0] = state[6]; - out_8550422043798884554[1] = state[7]; - out_8550422043798884554[2] = state[8]; +void h_14(double *state, double *unused, double *out_7677380843386584152) { + out_7677380843386584152[0] = state[6]; + out_7677380843386584152[1] = state[7]; + out_7677380843386584152[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5064179120288270135) { - out_5064179120288270135[0] = 0; - out_5064179120288270135[1] = 0; - out_5064179120288270135[2] = 0; - out_5064179120288270135[3] = 0; - out_5064179120288270135[4] = 0; - out_5064179120288270135[5] = 0; - out_5064179120288270135[6] = 1; - out_5064179120288270135[7] = 0; - out_5064179120288270135[8] = 0; - out_5064179120288270135[9] = 0; - out_5064179120288270135[10] = 0; - out_5064179120288270135[11] = 0; - out_5064179120288270135[12] = 0; - out_5064179120288270135[13] = 0; - out_5064179120288270135[14] = 0; - out_5064179120288270135[15] = 0; - out_5064179120288270135[16] = 0; - out_5064179120288270135[17] = 0; - out_5064179120288270135[18] = 0; - out_5064179120288270135[19] = 0; - out_5064179120288270135[20] = 0; - out_5064179120288270135[21] = 0; - out_5064179120288270135[22] = 0; - out_5064179120288270135[23] = 0; - out_5064179120288270135[24] = 0; - out_5064179120288270135[25] = 1; - out_5064179120288270135[26] = 0; - out_5064179120288270135[27] = 0; - out_5064179120288270135[28] = 0; - out_5064179120288270135[29] = 0; - out_5064179120288270135[30] = 0; - out_5064179120288270135[31] = 0; - out_5064179120288270135[32] = 0; - out_5064179120288270135[33] = 0; - out_5064179120288270135[34] = 0; - out_5064179120288270135[35] = 0; - out_5064179120288270135[36] = 0; - out_5064179120288270135[37] = 0; - out_5064179120288270135[38] = 0; - out_5064179120288270135[39] = 0; - out_5064179120288270135[40] = 0; - out_5064179120288270135[41] = 0; - out_5064179120288270135[42] = 0; - out_5064179120288270135[43] = 0; - out_5064179120288270135[44] = 1; - out_5064179120288270135[45] = 0; - out_5064179120288270135[46] = 0; - out_5064179120288270135[47] = 0; - out_5064179120288270135[48] = 0; - out_5064179120288270135[49] = 0; - out_5064179120288270135[50] = 0; - out_5064179120288270135[51] = 0; - out_5064179120288270135[52] = 0; - out_5064179120288270135[53] = 0; +void H_14(double *state, double *unused, double *out_17527368136545687) { + out_17527368136545687[0] = 0; + out_17527368136545687[1] = 0; + out_17527368136545687[2] = 0; + out_17527368136545687[3] = 0; + out_17527368136545687[4] = 0; + out_17527368136545687[5] = 0; + out_17527368136545687[6] = 1; + out_17527368136545687[7] = 0; + out_17527368136545687[8] = 0; + out_17527368136545687[9] = 0; + out_17527368136545687[10] = 0; + out_17527368136545687[11] = 0; + out_17527368136545687[12] = 0; + out_17527368136545687[13] = 0; + out_17527368136545687[14] = 0; + out_17527368136545687[15] = 0; + out_17527368136545687[16] = 0; + out_17527368136545687[17] = 0; + out_17527368136545687[18] = 0; + out_17527368136545687[19] = 0; + out_17527368136545687[20] = 0; + out_17527368136545687[21] = 0; + out_17527368136545687[22] = 0; + out_17527368136545687[23] = 0; + out_17527368136545687[24] = 0; + out_17527368136545687[25] = 1; + out_17527368136545687[26] = 0; + out_17527368136545687[27] = 0; + out_17527368136545687[28] = 0; + out_17527368136545687[29] = 0; + out_17527368136545687[30] = 0; + out_17527368136545687[31] = 0; + out_17527368136545687[32] = 0; + out_17527368136545687[33] = 0; + out_17527368136545687[34] = 0; + out_17527368136545687[35] = 0; + out_17527368136545687[36] = 0; + out_17527368136545687[37] = 0; + out_17527368136545687[38] = 0; + out_17527368136545687[39] = 0; + out_17527368136545687[40] = 0; + out_17527368136545687[41] = 0; + out_17527368136545687[42] = 0; + out_17527368136545687[43] = 0; + out_17527368136545687[44] = 1; + out_17527368136545687[45] = 0; + out_17527368136545687[46] = 0; + out_17527368136545687[47] = 0; + out_17527368136545687[48] = 0; + out_17527368136545687[49] = 0; + out_17527368136545687[50] = 0; + out_17527368136545687[51] = 0; + out_17527368136545687[52] = 0; + out_17527368136545687[53] = 0; } #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_4358722787451740543) { - err_fun(nom_x, delta_x, out_4358722787451740543); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2182435369834896236) { + err_fun(nom_x, delta_x, out_2182435369834896236); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8563351397910358896) { - inv_err_fun(nom_x, true_x, out_8563351397910358896); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197) { + inv_err_fun(nom_x, true_x, out_2883166859334089197); } -void pose_H_mod_fun(double *state, double *out_5753197897836805411) { - H_mod_fun(state, out_5753197897836805411); +void pose_H_mod_fun(double *state, double *out_671491409411989589) { + H_mod_fun(state, out_671491409411989589); } -void pose_f_fun(double *state, double dt, double *out_4934931273554332776) { - f_fun(state, dt, out_4934931273554332776); +void pose_f_fun(double *state, double dt, double *out_7919031781502386377) { + f_fun(state, dt, out_7919031781502386377); } -void pose_F_fun(double *state, double dt, double *out_3951309264317131877) { - F_fun(state, dt, out_3951309264317131877); +void pose_F_fun(double *state, double dt, double *out_7380360880106775220) { + F_fun(state, dt, out_7380360880106775220); } -void pose_h_4(double *state, double *unused, double *out_9124951261160774984) { - h_4(state, unused, out_9124951261160774984); +void pose_h_4(double *state, double *unused, double *out_4702057929225754412) { + h_4(state, unused, out_4702057929225754412); } -void pose_H_4(double *state, double *unused, double *out_1981390687992897839) { - H_4(state, unused, out_1981390687992897839); +void pose_H_4(double *state, double *unused, double *out_3100315800431917983) { + H_4(state, unused, out_3100315800431917983); } -void pose_h_10(double *state, double *unused, double *out_5902756371163799354) { - h_10(state, unused, out_5902756371163799354); +void pose_h_10(double *state, double *unused, double *out_1901997026290432130) { + h_10(state, unused, out_1901997026290432130); } -void pose_H_10(double *state, double *unused, double *out_3301172069868817257) { - H_10(state, unused, out_3301172069868817257); +void pose_H_10(double *state, double *unused, double *out_5200655737232907775) { + H_10(state, unused, out_5200655737232907775); } -void pose_h_13(double *state, double *unused, double *out_1037730484658777493) { - h_13(state, unused, out_1037730484658777493); +void pose_h_13(double *state, double *unused, double *out_6749072148499604094) { + h_13(state, unused, out_6749072148499604094); } -void pose_H_13(double *state, double *unused, double *out_1230883137339434962) { - H_13(state, unused, out_1230883137339434962); +void pose_H_13(double *state, double *unused, double *out_6312589625764250784) { + H_13(state, unused, out_6312589625764250784); } -void pose_h_14(double *state, double *unused, double *out_8550422043798884554) { - h_14(state, unused, out_8550422043798884554); +void pose_h_14(double *state, double *unused, double *out_7677380843386584152) { + h_14(state, unused, out_7677380843386584152); } -void pose_H_14(double *state, double *unused, double *out_5064179120288270135) { - H_14(state, unused, out_5064179120288270135); +void pose_H_14(double *state, double *unused, double *out_17527368136545687) { + H_14(state, unused, out_17527368136545687); } 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 abd08d736..f3e7e5d0f 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_4358722787451740543); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8563351397910358896); -void pose_H_mod_fun(double *state, double *out_5753197897836805411); -void pose_f_fun(double *state, double dt, double *out_4934931273554332776); -void pose_F_fun(double *state, double dt, double *out_3951309264317131877); -void pose_h_4(double *state, double *unused, double *out_9124951261160774984); -void pose_H_4(double *state, double *unused, double *out_1981390687992897839); -void pose_h_10(double *state, double *unused, double *out_5902756371163799354); -void pose_H_10(double *state, double *unused, double *out_3301172069868817257); -void pose_h_13(double *state, double *unused, double *out_1037730484658777493); -void pose_H_13(double *state, double *unused, double *out_1230883137339434962); -void pose_h_14(double *state, double *unused, double *out_8550422043798884554); -void pose_H_14(double *state, double *unused, double *out_5064179120288270135); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2182435369834896236); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2883166859334089197); +void pose_H_mod_fun(double *state, double *out_671491409411989589); +void pose_f_fun(double *state, double dt, double *out_7919031781502386377); +void pose_F_fun(double *state, double dt, double *out_7380360880106775220); +void pose_h_4(double *state, double *unused, double *out_4702057929225754412); +void pose_H_4(double *state, double *unused, double *out_3100315800431917983); +void pose_h_10(double *state, double *unused, double *out_1901997026290432130); +void pose_H_10(double *state, double *unused, double *out_5200655737232907775); +void pose_h_13(double *state, double *unused, double *out_6749072148499604094); +void pose_H_13(double *state, double *unused, double *out_6312589625764250784); +void pose_h_14(double *state, double *unused, double *out_7677380843386584152); +void pose_H_14(double *state, double *unused, double *out_17527368136545687); void pose_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 707c290a3..30565a9d5 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 349715756..30f8c895e 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 6afa891f4..7fa536aec 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 9a0523dbe..a1c139ba0 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index a8368f0d8..2e4694fa2 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ