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a/panda/board/obj/version b/panda/board/obj/version index 3626c193d..5d05838b2 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-205e4b3a-DEBUG \ No newline at end of file +DEV-7888c79a-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 79f02945c..a7e25ca36 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_3329877133651101623) { - out_3329877133651101623[0] = delta_x[0] + nom_x[0]; - out_3329877133651101623[1] = delta_x[1] + nom_x[1]; - out_3329877133651101623[2] = delta_x[2] + nom_x[2]; - out_3329877133651101623[3] = delta_x[3] + nom_x[3]; - out_3329877133651101623[4] = delta_x[4] + nom_x[4]; - out_3329877133651101623[5] = delta_x[5] + nom_x[5]; - out_3329877133651101623[6] = delta_x[6] + nom_x[6]; - out_3329877133651101623[7] = delta_x[7] + nom_x[7]; - out_3329877133651101623[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2600768462618711997) { + out_2600768462618711997[0] = delta_x[0] + nom_x[0]; + out_2600768462618711997[1] = delta_x[1] + nom_x[1]; + out_2600768462618711997[2] = delta_x[2] + nom_x[2]; + out_2600768462618711997[3] = delta_x[3] + nom_x[3]; + out_2600768462618711997[4] = delta_x[4] + nom_x[4]; + out_2600768462618711997[5] = delta_x[5] + nom_x[5]; + out_2600768462618711997[6] = delta_x[6] + nom_x[6]; + out_2600768462618711997[7] = delta_x[7] + nom_x[7]; + out_2600768462618711997[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - out_7760882190653564987[0] = -nom_x[0] + true_x[0]; - out_7760882190653564987[1] = -nom_x[1] + true_x[1]; - out_7760882190653564987[2] = -nom_x[2] + true_x[2]; - out_7760882190653564987[3] = -nom_x[3] + true_x[3]; - out_7760882190653564987[4] = -nom_x[4] + true_x[4]; - out_7760882190653564987[5] = -nom_x[5] + true_x[5]; - out_7760882190653564987[6] = -nom_x[6] + true_x[6]; - out_7760882190653564987[7] = -nom_x[7] + true_x[7]; - out_7760882190653564987[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7259494313163356603) { + out_7259494313163356603[0] = -nom_x[0] + true_x[0]; + out_7259494313163356603[1] = -nom_x[1] + true_x[1]; + out_7259494313163356603[2] = -nom_x[2] + true_x[2]; + out_7259494313163356603[3] = -nom_x[3] + true_x[3]; + out_7259494313163356603[4] = -nom_x[4] + true_x[4]; + out_7259494313163356603[5] = -nom_x[5] + true_x[5]; + out_7259494313163356603[6] = -nom_x[6] + true_x[6]; + out_7259494313163356603[7] = -nom_x[7] + true_x[7]; + out_7259494313163356603[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1773647306661711299) { - out_1773647306661711299[0] = 1.0; - out_1773647306661711299[1] = 0.0; - out_1773647306661711299[2] = 0.0; - out_1773647306661711299[3] = 0.0; - out_1773647306661711299[4] = 0.0; - out_1773647306661711299[5] = 0.0; - out_1773647306661711299[6] = 0.0; - out_1773647306661711299[7] = 0.0; - out_1773647306661711299[8] = 0.0; - out_1773647306661711299[9] = 0.0; - out_1773647306661711299[10] = 1.0; - out_1773647306661711299[11] = 0.0; - out_1773647306661711299[12] = 0.0; - out_1773647306661711299[13] = 0.0; - out_1773647306661711299[14] = 0.0; - out_1773647306661711299[15] = 0.0; - out_1773647306661711299[16] = 0.0; - out_1773647306661711299[17] = 0.0; - out_1773647306661711299[18] = 0.0; - out_1773647306661711299[19] = 0.0; - out_1773647306661711299[20] = 1.0; - out_1773647306661711299[21] = 0.0; - out_1773647306661711299[22] = 0.0; - out_1773647306661711299[23] = 0.0; - out_1773647306661711299[24] = 0.0; - out_1773647306661711299[25] = 0.0; - out_1773647306661711299[26] = 0.0; - out_1773647306661711299[27] = 0.0; - out_1773647306661711299[28] = 0.0; - out_1773647306661711299[29] = 0.0; - out_1773647306661711299[30] = 1.0; - out_1773647306661711299[31] = 0.0; - out_1773647306661711299[32] = 0.0; - out_1773647306661711299[33] = 0.0; - out_1773647306661711299[34] = 0.0; - out_1773647306661711299[35] = 0.0; - out_1773647306661711299[36] = 0.0; - out_1773647306661711299[37] = 0.0; - out_1773647306661711299[38] = 0.0; - out_1773647306661711299[39] = 0.0; - out_1773647306661711299[40] = 1.0; - out_1773647306661711299[41] = 0.0; - out_1773647306661711299[42] = 0.0; - out_1773647306661711299[43] = 0.0; - out_1773647306661711299[44] = 0.0; - out_1773647306661711299[45] = 0.0; - out_1773647306661711299[46] = 0.0; - out_1773647306661711299[47] = 0.0; - out_1773647306661711299[48] = 0.0; - out_1773647306661711299[49] = 0.0; - out_1773647306661711299[50] = 1.0; - out_1773647306661711299[51] = 0.0; - out_1773647306661711299[52] = 0.0; - out_1773647306661711299[53] = 0.0; - out_1773647306661711299[54] = 0.0; - out_1773647306661711299[55] = 0.0; - out_1773647306661711299[56] = 0.0; - out_1773647306661711299[57] = 0.0; - out_1773647306661711299[58] = 0.0; - out_1773647306661711299[59] = 0.0; - out_1773647306661711299[60] = 1.0; - out_1773647306661711299[61] = 0.0; - out_1773647306661711299[62] = 0.0; - out_1773647306661711299[63] = 0.0; - out_1773647306661711299[64] = 0.0; - out_1773647306661711299[65] = 0.0; - out_1773647306661711299[66] = 0.0; - out_1773647306661711299[67] = 0.0; - out_1773647306661711299[68] = 0.0; - out_1773647306661711299[69] = 0.0; - out_1773647306661711299[70] = 1.0; - out_1773647306661711299[71] = 0.0; - out_1773647306661711299[72] = 0.0; - out_1773647306661711299[73] = 0.0; - out_1773647306661711299[74] = 0.0; - out_1773647306661711299[75] = 0.0; - out_1773647306661711299[76] = 0.0; - out_1773647306661711299[77] = 0.0; - out_1773647306661711299[78] = 0.0; - out_1773647306661711299[79] = 0.0; - out_1773647306661711299[80] = 1.0; +void H_mod_fun(double *state, double *out_1493188658696786749) { + out_1493188658696786749[0] = 1.0; + out_1493188658696786749[1] = 0.0; + out_1493188658696786749[2] = 0.0; + out_1493188658696786749[3] = 0.0; + out_1493188658696786749[4] = 0.0; + out_1493188658696786749[5] = 0.0; + out_1493188658696786749[6] = 0.0; + out_1493188658696786749[7] = 0.0; + out_1493188658696786749[8] = 0.0; + out_1493188658696786749[9] = 0.0; + out_1493188658696786749[10] = 1.0; + out_1493188658696786749[11] = 0.0; + out_1493188658696786749[12] = 0.0; + out_1493188658696786749[13] = 0.0; + out_1493188658696786749[14] = 0.0; + out_1493188658696786749[15] = 0.0; + out_1493188658696786749[16] = 0.0; + out_1493188658696786749[17] = 0.0; + out_1493188658696786749[18] = 0.0; + out_1493188658696786749[19] = 0.0; + out_1493188658696786749[20] = 1.0; + out_1493188658696786749[21] = 0.0; + out_1493188658696786749[22] = 0.0; + out_1493188658696786749[23] = 0.0; + out_1493188658696786749[24] = 0.0; + out_1493188658696786749[25] = 0.0; + out_1493188658696786749[26] = 0.0; + out_1493188658696786749[27] = 0.0; + out_1493188658696786749[28] = 0.0; + out_1493188658696786749[29] = 0.0; + out_1493188658696786749[30] = 1.0; + out_1493188658696786749[31] = 0.0; + out_1493188658696786749[32] = 0.0; + out_1493188658696786749[33] = 0.0; + out_1493188658696786749[34] = 0.0; + out_1493188658696786749[35] = 0.0; + out_1493188658696786749[36] = 0.0; + out_1493188658696786749[37] = 0.0; + out_1493188658696786749[38] = 0.0; + out_1493188658696786749[39] = 0.0; + out_1493188658696786749[40] = 1.0; + out_1493188658696786749[41] = 0.0; + out_1493188658696786749[42] = 0.0; + out_1493188658696786749[43] = 0.0; + out_1493188658696786749[44] = 0.0; + out_1493188658696786749[45] = 0.0; + out_1493188658696786749[46] = 0.0; + out_1493188658696786749[47] = 0.0; + out_1493188658696786749[48] = 0.0; + out_1493188658696786749[49] = 0.0; + out_1493188658696786749[50] = 1.0; + out_1493188658696786749[51] = 0.0; + out_1493188658696786749[52] = 0.0; + out_1493188658696786749[53] = 0.0; + out_1493188658696786749[54] = 0.0; + out_1493188658696786749[55] = 0.0; + out_1493188658696786749[56] = 0.0; + out_1493188658696786749[57] = 0.0; + out_1493188658696786749[58] = 0.0; + out_1493188658696786749[59] = 0.0; + out_1493188658696786749[60] = 1.0; + out_1493188658696786749[61] = 0.0; + out_1493188658696786749[62] = 0.0; + out_1493188658696786749[63] = 0.0; + out_1493188658696786749[64] = 0.0; + out_1493188658696786749[65] = 0.0; + out_1493188658696786749[66] = 0.0; + out_1493188658696786749[67] = 0.0; + out_1493188658696786749[68] = 0.0; + out_1493188658696786749[69] = 0.0; + out_1493188658696786749[70] = 1.0; + out_1493188658696786749[71] = 0.0; + out_1493188658696786749[72] = 0.0; + out_1493188658696786749[73] = 0.0; + out_1493188658696786749[74] = 0.0; + out_1493188658696786749[75] = 0.0; + out_1493188658696786749[76] = 0.0; + out_1493188658696786749[77] = 0.0; + out_1493188658696786749[78] = 0.0; + out_1493188658696786749[79] = 0.0; + out_1493188658696786749[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8265395554005205627) { - out_8265395554005205627[0] = state[0]; - out_8265395554005205627[1] = state[1]; - out_8265395554005205627[2] = state[2]; - out_8265395554005205627[3] = state[3]; - out_8265395554005205627[4] = state[4]; - out_8265395554005205627[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_8265395554005205627[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_8265395554005205627[7] = state[7]; - out_8265395554005205627[8] = state[8]; +void f_fun(double *state, double dt, double *out_5943509684037993570) { + out_5943509684037993570[0] = state[0]; + out_5943509684037993570[1] = state[1]; + out_5943509684037993570[2] = state[2]; + out_5943509684037993570[3] = state[3]; + out_5943509684037993570[4] = state[4]; + out_5943509684037993570[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_5943509684037993570[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_5943509684037993570[7] = state[7]; + out_5943509684037993570[8] = state[8]; } -void F_fun(double *state, double dt, double *out_5121501708015469294) { - out_5121501708015469294[0] = 1; - out_5121501708015469294[1] = 0; - out_5121501708015469294[2] = 0; - out_5121501708015469294[3] = 0; - out_5121501708015469294[4] = 0; - out_5121501708015469294[5] = 0; - out_5121501708015469294[6] = 0; - out_5121501708015469294[7] = 0; - out_5121501708015469294[8] = 0; - out_5121501708015469294[9] = 0; - out_5121501708015469294[10] = 1; - out_5121501708015469294[11] = 0; - out_5121501708015469294[12] = 0; - out_5121501708015469294[13] = 0; - out_5121501708015469294[14] = 0; - out_5121501708015469294[15] = 0; - out_5121501708015469294[16] = 0; - out_5121501708015469294[17] = 0; - out_5121501708015469294[18] = 0; - out_5121501708015469294[19] = 0; - out_5121501708015469294[20] = 1; - out_5121501708015469294[21] = 0; - out_5121501708015469294[22] = 0; - out_5121501708015469294[23] = 0; - out_5121501708015469294[24] = 0; - out_5121501708015469294[25] = 0; - out_5121501708015469294[26] = 0; - out_5121501708015469294[27] = 0; - out_5121501708015469294[28] = 0; - out_5121501708015469294[29] = 0; - out_5121501708015469294[30] = 1; - out_5121501708015469294[31] = 0; - out_5121501708015469294[32] = 0; - out_5121501708015469294[33] = 0; - out_5121501708015469294[34] = 0; - out_5121501708015469294[35] = 0; - out_5121501708015469294[36] = 0; - out_5121501708015469294[37] = 0; - out_5121501708015469294[38] = 0; - out_5121501708015469294[39] = 0; - out_5121501708015469294[40] = 1; - out_5121501708015469294[41] = 0; - out_5121501708015469294[42] = 0; - out_5121501708015469294[43] = 0; - out_5121501708015469294[44] = 0; - out_5121501708015469294[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_5121501708015469294[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_5121501708015469294[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[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_5121501708015469294[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_5121501708015469294[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_5121501708015469294[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_5121501708015469294[53] = -9.8100000000000005*dt; - out_5121501708015469294[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_5121501708015469294[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_5121501708015469294[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[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_5121501708015469294[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_5121501708015469294[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_5121501708015469294[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_5121501708015469294[62] = 0; - out_5121501708015469294[63] = 0; - out_5121501708015469294[64] = 0; - out_5121501708015469294[65] = 0; - out_5121501708015469294[66] = 0; - out_5121501708015469294[67] = 0; - out_5121501708015469294[68] = 0; - out_5121501708015469294[69] = 0; - out_5121501708015469294[70] = 1; - out_5121501708015469294[71] = 0; - out_5121501708015469294[72] = 0; - out_5121501708015469294[73] = 0; - out_5121501708015469294[74] = 0; - out_5121501708015469294[75] = 0; - out_5121501708015469294[76] = 0; - out_5121501708015469294[77] = 0; - out_5121501708015469294[78] = 0; - out_5121501708015469294[79] = 0; - out_5121501708015469294[80] = 1; +void F_fun(double *state, double dt, double *out_6240971521964326149) { + out_6240971521964326149[0] = 1; + out_6240971521964326149[1] = 0; + out_6240971521964326149[2] = 0; + out_6240971521964326149[3] = 0; + out_6240971521964326149[4] = 0; + out_6240971521964326149[5] = 0; + out_6240971521964326149[6] = 0; + out_6240971521964326149[7] = 0; + out_6240971521964326149[8] = 0; + out_6240971521964326149[9] = 0; + out_6240971521964326149[10] = 1; + out_6240971521964326149[11] = 0; + out_6240971521964326149[12] = 0; + out_6240971521964326149[13] = 0; + out_6240971521964326149[14] = 0; + out_6240971521964326149[15] = 0; + out_6240971521964326149[16] = 0; + out_6240971521964326149[17] = 0; + out_6240971521964326149[18] = 0; + out_6240971521964326149[19] = 0; + out_6240971521964326149[20] = 1; + out_6240971521964326149[21] = 0; + out_6240971521964326149[22] = 0; + out_6240971521964326149[23] = 0; + out_6240971521964326149[24] = 0; + out_6240971521964326149[25] = 0; + out_6240971521964326149[26] = 0; + out_6240971521964326149[27] = 0; + out_6240971521964326149[28] = 0; + out_6240971521964326149[29] = 0; + out_6240971521964326149[30] = 1; + out_6240971521964326149[31] = 0; + out_6240971521964326149[32] = 0; + out_6240971521964326149[33] = 0; + out_6240971521964326149[34] = 0; + out_6240971521964326149[35] = 0; + out_6240971521964326149[36] = 0; + out_6240971521964326149[37] = 0; + out_6240971521964326149[38] = 0; + out_6240971521964326149[39] = 0; + out_6240971521964326149[40] = 1; + out_6240971521964326149[41] = 0; + out_6240971521964326149[42] = 0; + out_6240971521964326149[43] = 0; + out_6240971521964326149[44] = 0; + out_6240971521964326149[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_6240971521964326149[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6240971521964326149[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6240971521964326149[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6240971521964326149[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_6240971521964326149[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6240971521964326149[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6240971521964326149[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6240971521964326149[53] = -9.8100000000000005*dt; + out_6240971521964326149[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_6240971521964326149[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6240971521964326149[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6240971521964326149[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6240971521964326149[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_6240971521964326149[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6240971521964326149[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_6240971521964326149[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6240971521964326149[62] = 0; + out_6240971521964326149[63] = 0; + out_6240971521964326149[64] = 0; + out_6240971521964326149[65] = 0; + out_6240971521964326149[66] = 0; + out_6240971521964326149[67] = 0; + out_6240971521964326149[68] = 0; + out_6240971521964326149[69] = 0; + out_6240971521964326149[70] = 1; + out_6240971521964326149[71] = 0; + out_6240971521964326149[72] = 0; + out_6240971521964326149[73] = 0; + out_6240971521964326149[74] = 0; + out_6240971521964326149[75] = 0; + out_6240971521964326149[76] = 0; + out_6240971521964326149[77] = 0; + out_6240971521964326149[78] = 0; + out_6240971521964326149[79] = 0; + out_6240971521964326149[80] = 1; } -void h_25(double *state, double *unused, double *out_1871114119926472838) { - out_1871114119926472838[0] = state[6]; +void h_25(double *state, double *unused, double *out_6066332368842429215) { + out_6066332368842429215[0] = state[6]; } -void H_25(double *state, double *unused, double *out_1749401331983653849) { - out_1749401331983653849[0] = 0; - out_1749401331983653849[1] = 0; - out_1749401331983653849[2] = 0; - out_1749401331983653849[3] = 0; - out_1749401331983653849[4] = 0; - out_1749401331983653849[5] = 0; - out_1749401331983653849[6] = 1; - out_1749401331983653849[7] = 0; - out_1749401331983653849[8] = 0; +void H_25(double *state, double *unused, double *out_4603719707909587867) { + out_4603719707909587867[0] = 0; + out_4603719707909587867[1] = 0; + out_4603719707909587867[2] = 0; + out_4603719707909587867[3] = 0; + out_4603719707909587867[4] = 0; + out_4603719707909587867[5] = 0; + out_4603719707909587867[6] = 1; + out_4603719707909587867[7] = 0; + out_4603719707909587867[8] = 0; } -void h_24(double *state, double *unused, double *out_4177328874243606255) { - out_4177328874243606255[0] = state[4]; - out_4177328874243606255[1] = state[5]; +void h_24(double *state, double *unused, double *out_3848779066424665825) { + out_3848779066424665825[0] = state[4]; + out_3848779066424665825[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1808524266818669287) { - out_1808524266818669287[0] = 0; - out_1808524266818669287[1] = 0; - out_1808524266818669287[2] = 0; - out_1808524266818669287[3] = 0; - out_1808524266818669287[4] = 1; - out_1808524266818669287[5] = 0; - out_1808524266818669287[6] = 0; - out_1808524266818669287[7] = 0; - out_1808524266818669287[8] = 0; - out_1808524266818669287[9] = 0; - out_1808524266818669287[10] = 0; - out_1808524266818669287[11] = 0; - out_1808524266818669287[12] = 0; - out_1808524266818669287[13] = 0; - out_1808524266818669287[14] = 1; - out_1808524266818669287[15] = 0; - out_1808524266818669287[16] = 0; - out_1808524266818669287[17] = 0; +void H_24(double *state, double *unused, double *out_2378011923930719305) { + out_2378011923930719305[0] = 0; + out_2378011923930719305[1] = 0; + out_2378011923930719305[2] = 0; + out_2378011923930719305[3] = 0; + out_2378011923930719305[4] = 1; + out_2378011923930719305[5] = 0; + out_2378011923930719305[6] = 0; + out_2378011923930719305[7] = 0; + out_2378011923930719305[8] = 0; + out_2378011923930719305[9] = 0; + out_2378011923930719305[10] = 0; + out_2378011923930719305[11] = 0; + out_2378011923930719305[12] = 0; + out_2378011923930719305[13] = 0; + out_2378011923930719305[14] = 1; + out_2378011923930719305[15] = 0; + out_2378011923930719305[16] = 0; + out_2378011923930719305[17] = 0; } -void h_30(double *state, double *unused, double *out_6625546561337267154) { - out_6625546561337267154[0] = state[4]; +void h_30(double *state, double *unused, double *out_6341526431126935104) { + out_6341526431126935104[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5167289009507962906) { - out_5167289009507962906[0] = 0; - out_5167289009507962906[1] = 0; - out_5167289009507962906[2] = 0; - out_5167289009507962906[3] = 0; - out_5167289009507962906[4] = 1; - out_5167289009507962906[5] = 0; - out_5167289009507962906[6] = 0; - out_5167289009507962906[7] = 0; - out_5167289009507962906[8] = 0; +void H_30(double *state, double *unused, double *out_2312970633582028888) { + out_2312970633582028888[0] = 0; + out_2312970633582028888[1] = 0; + out_2312970633582028888[2] = 0; + out_2312970633582028888[3] = 0; + out_2312970633582028888[4] = 1; + out_2312970633582028888[5] = 0; + out_2312970633582028888[6] = 0; + out_2312970633582028888[7] = 0; + out_2312970633582028888[8] = 0; } -void h_26(double *state, double *unused, double *out_8545349699624827873) { - out_8545349699624827873[0] = state[7]; +void h_26(double *state, double *unused, double *out_7509270232203076841) { + out_7509270232203076841[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5490904650857710073) { - out_5490904650857710073[0] = 0; - out_5490904650857710073[1] = 0; - out_5490904650857710073[2] = 0; - out_5490904650857710073[3] = 0; - out_5490904650857710073[4] = 0; - out_5490904650857710073[5] = 0; - out_5490904650857710073[6] = 0; - out_5490904650857710073[7] = 1; - out_5490904650857710073[8] = 0; +void H_26(double *state, double *unused, double *out_8345223026783644091) { + out_8345223026783644091[0] = 0; + out_8345223026783644091[1] = 0; + out_8345223026783644091[2] = 0; + out_8345223026783644091[3] = 0; + out_8345223026783644091[4] = 0; + out_8345223026783644091[5] = 0; + out_8345223026783644091[6] = 0; + out_8345223026783644091[7] = 1; + out_8345223026783644091[8] = 0; } -void h_27(double *state, double *unused, double *out_3470753115959557725) { - out_3470753115959557725[0] = state[3]; +void h_27(double *state, double *unused, double *out_4731066531555788059) { + out_4731066531555788059[0] = state[3]; } -void H_27(double *state, double *unused, double *out_2992525697707537995) { - out_2992525697707537995[0] = 0; - out_2992525697707537995[1] = 0; - out_2992525697707537995[2] = 0; - out_2992525697707537995[3] = 1; - out_2992525697707537995[4] = 0; - out_2992525697707537995[5] = 0; - out_2992525697707537995[6] = 0; - out_2992525697707537995[7] = 0; - out_2992525697707537995[8] = 0; +void H_27(double *state, double *unused, double *out_138207321781603977) { + out_138207321781603977[0] = 0; + out_138207321781603977[1] = 0; + out_138207321781603977[2] = 0; + out_138207321781603977[3] = 1; + out_138207321781603977[4] = 0; + out_138207321781603977[5] = 0; + out_138207321781603977[6] = 0; + out_138207321781603977[7] = 0; + out_138207321781603977[8] = 0; } -void h_29(double *state, double *unused, double *out_7569056414238929589) { - out_7569056414238929589[0] = state[1]; +void h_29(double *state, double *unused, double *out_869383055127286407) { + out_869383055127286407[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1279162970837986962) { - out_1279162970837986962[0] = 0; - out_1279162970837986962[1] = 1; - out_1279162970837986962[2] = 0; - out_1279162970837986962[3] = 0; - out_1279162970837986962[4] = 0; - out_1279162970837986962[5] = 0; - out_1279162970837986962[6] = 0; - out_1279162970837986962[7] = 0; - out_1279162970837986962[8] = 0; +void H_29(double *state, double *unused, double *out_2823201977896421072) { + out_2823201977896421072[0] = 0; + out_2823201977896421072[1] = 1; + out_2823201977896421072[2] = 0; + out_2823201977896421072[3] = 0; + out_2823201977896421072[4] = 0; + out_2823201977896421072[5] = 0; + out_2823201977896421072[6] = 0; + out_2823201977896421072[7] = 0; + out_2823201977896421072[8] = 0; } -void h_28(double *state, double *unused, double *out_6507539167403890410) { - out_6507539167403890410[0] = state[0]; +void h_28(double *state, double *unused, double *out_2023156983307100891) { + out_2023156983307100891[0] = state[0]; } -void H_28(double *state, double *unused, double *out_3803236046231543612) { - out_3803236046231543612[0] = 1; - out_3803236046231543612[1] = 0; - out_3803236046231543612[2] = 0; - out_3803236046231543612[3] = 0; - out_3803236046231543612[4] = 0; - out_3803236046231543612[5] = 0; - out_3803236046231543612[6] = 0; - out_3803236046231543612[7] = 0; - out_3803236046231543612[8] = 0; +void H_28(double *state, double *unused, double *out_2259197039173109502) { + out_2259197039173109502[0] = 1; + out_2259197039173109502[1] = 0; + out_2259197039173109502[2] = 0; + out_2259197039173109502[3] = 0; + out_2259197039173109502[4] = 0; + out_2259197039173109502[5] = 0; + out_2259197039173109502[6] = 0; + out_2259197039173109502[7] = 0; + out_2259197039173109502[8] = 0; } -void h_31(double *state, double *unused, double *out_5594040852719868954) { - out_5594040852719868954[0] = state[8]; +void h_31(double *state, double *unused, double *out_2428882840588406865) { + out_2428882840588406865[0] = state[8]; } -void H_31(double *state, double *unused, double *out_1718755370106693421) { - out_1718755370106693421[0] = 0; - out_1718755370106693421[1] = 0; - out_1718755370106693421[2] = 0; - out_1718755370106693421[3] = 0; - out_1718755370106693421[4] = 0; - out_1718755370106693421[5] = 0; - out_1718755370106693421[6] = 0; - out_1718755370106693421[7] = 0; - out_1718755370106693421[8] = 1; +void H_31(double *state, double *unused, double *out_4573073746032627439) { + out_4573073746032627439[0] = 0; + out_4573073746032627439[1] = 0; + out_4573073746032627439[2] = 0; + out_4573073746032627439[3] = 0; + out_4573073746032627439[4] = 0; + out_4573073746032627439[5] = 0; + out_4573073746032627439[6] = 0; + out_4573073746032627439[7] = 0; + out_4573073746032627439[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_3329877133651101623) { - err_fun(nom_x, delta_x, out_3329877133651101623); +void car_err_fun(double *nom_x, double *delta_x, double *out_2600768462618711997) { + err_fun(nom_x, delta_x, out_2600768462618711997); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { - inv_err_fun(nom_x, true_x, out_7760882190653564987); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7259494313163356603) { + inv_err_fun(nom_x, true_x, out_7259494313163356603); } -void car_H_mod_fun(double *state, double *out_1773647306661711299) { - H_mod_fun(state, out_1773647306661711299); +void car_H_mod_fun(double *state, double *out_1493188658696786749) { + H_mod_fun(state, out_1493188658696786749); } -void car_f_fun(double *state, double dt, double *out_8265395554005205627) { - f_fun(state, dt, out_8265395554005205627); +void car_f_fun(double *state, double dt, double *out_5943509684037993570) { + f_fun(state, dt, out_5943509684037993570); } -void car_F_fun(double *state, double dt, double *out_5121501708015469294) { - F_fun(state, dt, out_5121501708015469294); +void car_F_fun(double *state, double dt, double *out_6240971521964326149) { + F_fun(state, dt, out_6240971521964326149); } -void car_h_25(double *state, double *unused, double *out_1871114119926472838) { - h_25(state, unused, out_1871114119926472838); +void car_h_25(double *state, double *unused, double *out_6066332368842429215) { + h_25(state, unused, out_6066332368842429215); } -void car_H_25(double *state, double *unused, double *out_1749401331983653849) { - H_25(state, unused, out_1749401331983653849); +void car_H_25(double *state, double *unused, double *out_4603719707909587867) { + H_25(state, unused, out_4603719707909587867); } -void car_h_24(double *state, double *unused, double *out_4177328874243606255) { - h_24(state, unused, out_4177328874243606255); +void car_h_24(double *state, double *unused, double *out_3848779066424665825) { + h_24(state, unused, out_3848779066424665825); } -void car_H_24(double *state, double *unused, double *out_1808524266818669287) { - H_24(state, unused, out_1808524266818669287); +void car_H_24(double *state, double *unused, double *out_2378011923930719305) { + H_24(state, unused, out_2378011923930719305); } -void car_h_30(double *state, double *unused, double *out_6625546561337267154) { - h_30(state, unused, out_6625546561337267154); +void car_h_30(double *state, double *unused, double *out_6341526431126935104) { + h_30(state, unused, out_6341526431126935104); } -void car_H_30(double *state, double *unused, double *out_5167289009507962906) { - H_30(state, unused, out_5167289009507962906); +void car_H_30(double *state, double *unused, double *out_2312970633582028888) { + H_30(state, unused, out_2312970633582028888); } -void car_h_26(double *state, double *unused, double *out_8545349699624827873) { - h_26(state, unused, out_8545349699624827873); +void car_h_26(double *state, double *unused, double *out_7509270232203076841) { + h_26(state, unused, out_7509270232203076841); } -void car_H_26(double *state, double *unused, double *out_5490904650857710073) { - H_26(state, unused, out_5490904650857710073); +void car_H_26(double *state, double *unused, double *out_8345223026783644091) { + H_26(state, unused, out_8345223026783644091); } -void car_h_27(double *state, double *unused, double *out_3470753115959557725) { - h_27(state, unused, out_3470753115959557725); +void car_h_27(double *state, double *unused, double *out_4731066531555788059) { + h_27(state, unused, out_4731066531555788059); } -void car_H_27(double *state, double *unused, double *out_2992525697707537995) { - H_27(state, unused, out_2992525697707537995); +void car_H_27(double *state, double *unused, double *out_138207321781603977) { + H_27(state, unused, out_138207321781603977); } -void car_h_29(double *state, double *unused, double *out_7569056414238929589) { - h_29(state, unused, out_7569056414238929589); +void car_h_29(double *state, double *unused, double *out_869383055127286407) { + h_29(state, unused, out_869383055127286407); } -void car_H_29(double *state, double *unused, double *out_1279162970837986962) { - H_29(state, unused, out_1279162970837986962); +void car_H_29(double *state, double *unused, double *out_2823201977896421072) { + H_29(state, unused, out_2823201977896421072); } -void car_h_28(double *state, double *unused, double *out_6507539167403890410) { - h_28(state, unused, out_6507539167403890410); +void car_h_28(double *state, double *unused, double *out_2023156983307100891) { + h_28(state, unused, out_2023156983307100891); } -void car_H_28(double *state, double *unused, double *out_3803236046231543612) { - H_28(state, unused, out_3803236046231543612); +void car_H_28(double *state, double *unused, double *out_2259197039173109502) { + H_28(state, unused, out_2259197039173109502); } -void car_h_31(double *state, double *unused, double *out_5594040852719868954) { - h_31(state, unused, out_5594040852719868954); +void car_h_31(double *state, double *unused, double *out_2428882840588406865) { + h_31(state, unused, out_2428882840588406865); } -void car_H_31(double *state, double *unused, double *out_1718755370106693421) { - H_31(state, unused, out_1718755370106693421); +void car_H_31(double *state, double *unused, double *out_4573073746032627439) { + H_31(state, unused, out_4573073746032627439); } 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 5b9d4a4b7..f5d1037ae 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_3329877133651101623); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987); -void car_H_mod_fun(double *state, double *out_1773647306661711299); -void car_f_fun(double *state, double dt, double *out_8265395554005205627); -void car_F_fun(double *state, double dt, double *out_5121501708015469294); -void car_h_25(double *state, double *unused, double *out_1871114119926472838); -void car_H_25(double *state, double *unused, double *out_1749401331983653849); -void car_h_24(double *state, double *unused, double *out_4177328874243606255); -void car_H_24(double *state, double *unused, double *out_1808524266818669287); -void car_h_30(double *state, double *unused, double *out_6625546561337267154); -void car_H_30(double *state, double *unused, double *out_5167289009507962906); -void car_h_26(double *state, double *unused, double *out_8545349699624827873); -void car_H_26(double *state, double *unused, double *out_5490904650857710073); -void car_h_27(double *state, double *unused, double *out_3470753115959557725); -void car_H_27(double *state, double *unused, double *out_2992525697707537995); -void car_h_29(double *state, double *unused, double *out_7569056414238929589); -void car_H_29(double *state, double *unused, double *out_1279162970837986962); -void car_h_28(double *state, double *unused, double *out_6507539167403890410); -void car_H_28(double *state, double *unused, double *out_3803236046231543612); -void car_h_31(double *state, double *unused, double *out_5594040852719868954); -void car_H_31(double *state, double *unused, double *out_1718755370106693421); +void car_err_fun(double *nom_x, double *delta_x, double *out_2600768462618711997); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7259494313163356603); +void car_H_mod_fun(double *state, double *out_1493188658696786749); +void car_f_fun(double *state, double dt, double *out_5943509684037993570); +void car_F_fun(double *state, double dt, double *out_6240971521964326149); +void car_h_25(double *state, double *unused, double *out_6066332368842429215); +void car_H_25(double *state, double *unused, double *out_4603719707909587867); +void car_h_24(double *state, double *unused, double *out_3848779066424665825); +void car_H_24(double *state, double *unused, double *out_2378011923930719305); +void car_h_30(double *state, double *unused, double *out_6341526431126935104); +void car_H_30(double *state, double *unused, double *out_2312970633582028888); +void car_h_26(double *state, double *unused, double *out_7509270232203076841); +void car_H_26(double *state, double *unused, double *out_8345223026783644091); +void car_h_27(double *state, double *unused, double *out_4731066531555788059); +void car_H_27(double *state, double *unused, double *out_138207321781603977); +void car_h_29(double *state, double *unused, double *out_869383055127286407); +void car_H_29(double *state, double *unused, double *out_2823201977896421072); +void car_h_28(double *state, double *unused, double *out_2023156983307100891); +void car_H_28(double *state, double *unused, double *out_2259197039173109502); +void car_h_31(double *state, double *unused, double *out_2428882840588406865); +void car_H_31(double *state, double *unused, double *out_4573073746032627439); 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 87bcfb442..fc4af3a1b 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_2803054085873220166) { - out_2803054085873220166[0] = delta_x[0] + nom_x[0]; - out_2803054085873220166[1] = delta_x[1] + nom_x[1]; - out_2803054085873220166[2] = delta_x[2] + nom_x[2]; - out_2803054085873220166[3] = delta_x[3] + nom_x[3]; - out_2803054085873220166[4] = delta_x[4] + nom_x[4]; - out_2803054085873220166[5] = delta_x[5] + nom_x[5]; - out_2803054085873220166[6] = delta_x[6] + nom_x[6]; - out_2803054085873220166[7] = delta_x[7] + nom_x[7]; - out_2803054085873220166[8] = delta_x[8] + nom_x[8]; - out_2803054085873220166[9] = delta_x[9] + nom_x[9]; - out_2803054085873220166[10] = delta_x[10] + nom_x[10]; - out_2803054085873220166[11] = delta_x[11] + nom_x[11]; - out_2803054085873220166[12] = delta_x[12] + nom_x[12]; - out_2803054085873220166[13] = delta_x[13] + nom_x[13]; - out_2803054085873220166[14] = delta_x[14] + nom_x[14]; - out_2803054085873220166[15] = delta_x[15] + nom_x[15]; - out_2803054085873220166[16] = delta_x[16] + nom_x[16]; - out_2803054085873220166[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_327274557709511665) { + out_327274557709511665[0] = delta_x[0] + nom_x[0]; + out_327274557709511665[1] = delta_x[1] + nom_x[1]; + out_327274557709511665[2] = delta_x[2] + nom_x[2]; + out_327274557709511665[3] = delta_x[3] + nom_x[3]; + out_327274557709511665[4] = delta_x[4] + nom_x[4]; + out_327274557709511665[5] = delta_x[5] + nom_x[5]; + out_327274557709511665[6] = delta_x[6] + nom_x[6]; + out_327274557709511665[7] = delta_x[7] + nom_x[7]; + out_327274557709511665[8] = delta_x[8] + nom_x[8]; + out_327274557709511665[9] = delta_x[9] + nom_x[9]; + out_327274557709511665[10] = delta_x[10] + nom_x[10]; + out_327274557709511665[11] = delta_x[11] + nom_x[11]; + out_327274557709511665[12] = delta_x[12] + nom_x[12]; + out_327274557709511665[13] = delta_x[13] + nom_x[13]; + out_327274557709511665[14] = delta_x[14] + nom_x[14]; + out_327274557709511665[15] = delta_x[15] + nom_x[15]; + out_327274557709511665[16] = delta_x[16] + nom_x[16]; + out_327274557709511665[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - out_870718263858356541[0] = -nom_x[0] + true_x[0]; - out_870718263858356541[1] = -nom_x[1] + true_x[1]; - out_870718263858356541[2] = -nom_x[2] + true_x[2]; - out_870718263858356541[3] = -nom_x[3] + true_x[3]; - out_870718263858356541[4] = -nom_x[4] + true_x[4]; - out_870718263858356541[5] = -nom_x[5] + true_x[5]; - out_870718263858356541[6] = -nom_x[6] + true_x[6]; - out_870718263858356541[7] = -nom_x[7] + true_x[7]; - out_870718263858356541[8] = -nom_x[8] + true_x[8]; - out_870718263858356541[9] = -nom_x[9] + true_x[9]; - out_870718263858356541[10] = -nom_x[10] + true_x[10]; - out_870718263858356541[11] = -nom_x[11] + true_x[11]; - out_870718263858356541[12] = -nom_x[12] + true_x[12]; - out_870718263858356541[13] = -nom_x[13] + true_x[13]; - out_870718263858356541[14] = -nom_x[14] + true_x[14]; - out_870718263858356541[15] = -nom_x[15] + true_x[15]; - out_870718263858356541[16] = -nom_x[16] + true_x[16]; - out_870718263858356541[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4344179942375735738) { + out_4344179942375735738[0] = -nom_x[0] + true_x[0]; + out_4344179942375735738[1] = -nom_x[1] + true_x[1]; + out_4344179942375735738[2] = -nom_x[2] + true_x[2]; + out_4344179942375735738[3] = -nom_x[3] + true_x[3]; + out_4344179942375735738[4] = -nom_x[4] + true_x[4]; + out_4344179942375735738[5] = -nom_x[5] + true_x[5]; + out_4344179942375735738[6] = -nom_x[6] + true_x[6]; + out_4344179942375735738[7] = -nom_x[7] + true_x[7]; + out_4344179942375735738[8] = -nom_x[8] + true_x[8]; + out_4344179942375735738[9] = -nom_x[9] + true_x[9]; + out_4344179942375735738[10] = -nom_x[10] + true_x[10]; + out_4344179942375735738[11] = -nom_x[11] + true_x[11]; + out_4344179942375735738[12] = -nom_x[12] + true_x[12]; + out_4344179942375735738[13] = -nom_x[13] + true_x[13]; + out_4344179942375735738[14] = -nom_x[14] + true_x[14]; + out_4344179942375735738[15] = -nom_x[15] + true_x[15]; + out_4344179942375735738[16] = -nom_x[16] + true_x[16]; + out_4344179942375735738[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_245560868528396178) { - out_245560868528396178[0] = 1.0; - out_245560868528396178[1] = 0.0; - out_245560868528396178[2] = 0.0; - out_245560868528396178[3] = 0.0; - out_245560868528396178[4] = 0.0; - out_245560868528396178[5] = 0.0; - out_245560868528396178[6] = 0.0; - out_245560868528396178[7] = 0.0; - out_245560868528396178[8] = 0.0; - out_245560868528396178[9] = 0.0; - out_245560868528396178[10] = 0.0; - out_245560868528396178[11] = 0.0; - out_245560868528396178[12] = 0.0; - out_245560868528396178[13] = 0.0; - out_245560868528396178[14] = 0.0; - out_245560868528396178[15] = 0.0; - out_245560868528396178[16] = 0.0; - out_245560868528396178[17] = 0.0; - out_245560868528396178[18] = 0.0; - out_245560868528396178[19] = 1.0; - out_245560868528396178[20] = 0.0; - out_245560868528396178[21] = 0.0; - out_245560868528396178[22] = 0.0; - out_245560868528396178[23] = 0.0; - out_245560868528396178[24] = 0.0; - out_245560868528396178[25] = 0.0; - out_245560868528396178[26] = 0.0; - out_245560868528396178[27] = 0.0; - out_245560868528396178[28] = 0.0; - out_245560868528396178[29] = 0.0; - out_245560868528396178[30] = 0.0; - out_245560868528396178[31] = 0.0; - out_245560868528396178[32] = 0.0; - out_245560868528396178[33] = 0.0; - out_245560868528396178[34] = 0.0; - out_245560868528396178[35] = 0.0; - out_245560868528396178[36] = 0.0; - out_245560868528396178[37] = 0.0; - out_245560868528396178[38] = 1.0; - out_245560868528396178[39] = 0.0; - out_245560868528396178[40] = 0.0; - out_245560868528396178[41] = 0.0; - out_245560868528396178[42] = 0.0; - out_245560868528396178[43] = 0.0; - out_245560868528396178[44] = 0.0; - out_245560868528396178[45] = 0.0; - out_245560868528396178[46] = 0.0; - out_245560868528396178[47] = 0.0; - out_245560868528396178[48] = 0.0; - out_245560868528396178[49] = 0.0; - out_245560868528396178[50] = 0.0; - out_245560868528396178[51] = 0.0; - out_245560868528396178[52] = 0.0; - out_245560868528396178[53] = 0.0; - out_245560868528396178[54] = 0.0; - out_245560868528396178[55] = 0.0; - out_245560868528396178[56] = 0.0; - out_245560868528396178[57] = 1.0; - out_245560868528396178[58] = 0.0; - out_245560868528396178[59] = 0.0; - out_245560868528396178[60] = 0.0; - out_245560868528396178[61] = 0.0; - out_245560868528396178[62] = 0.0; - out_245560868528396178[63] = 0.0; - out_245560868528396178[64] = 0.0; - out_245560868528396178[65] = 0.0; - out_245560868528396178[66] = 0.0; - out_245560868528396178[67] = 0.0; - out_245560868528396178[68] = 0.0; - out_245560868528396178[69] = 0.0; - out_245560868528396178[70] = 0.0; - out_245560868528396178[71] = 0.0; - out_245560868528396178[72] = 0.0; - out_245560868528396178[73] = 0.0; - out_245560868528396178[74] = 0.0; - out_245560868528396178[75] = 0.0; - out_245560868528396178[76] = 1.0; - out_245560868528396178[77] = 0.0; - out_245560868528396178[78] = 0.0; - out_245560868528396178[79] = 0.0; - out_245560868528396178[80] = 0.0; - out_245560868528396178[81] = 0.0; - out_245560868528396178[82] = 0.0; - out_245560868528396178[83] = 0.0; - out_245560868528396178[84] = 0.0; - out_245560868528396178[85] = 0.0; - out_245560868528396178[86] = 0.0; - out_245560868528396178[87] = 0.0; - out_245560868528396178[88] = 0.0; - out_245560868528396178[89] = 0.0; - out_245560868528396178[90] = 0.0; - out_245560868528396178[91] = 0.0; - out_245560868528396178[92] = 0.0; - out_245560868528396178[93] = 0.0; - out_245560868528396178[94] = 0.0; - out_245560868528396178[95] = 1.0; - out_245560868528396178[96] = 0.0; - out_245560868528396178[97] = 0.0; - out_245560868528396178[98] = 0.0; - out_245560868528396178[99] = 0.0; - out_245560868528396178[100] = 0.0; - out_245560868528396178[101] = 0.0; - out_245560868528396178[102] = 0.0; - out_245560868528396178[103] = 0.0; - out_245560868528396178[104] = 0.0; - out_245560868528396178[105] = 0.0; - out_245560868528396178[106] = 0.0; - out_245560868528396178[107] = 0.0; - out_245560868528396178[108] = 0.0; - out_245560868528396178[109] = 0.0; - out_245560868528396178[110] = 0.0; - out_245560868528396178[111] = 0.0; - out_245560868528396178[112] = 0.0; - out_245560868528396178[113] = 0.0; - out_245560868528396178[114] = 1.0; - out_245560868528396178[115] = 0.0; - out_245560868528396178[116] = 0.0; - out_245560868528396178[117] = 0.0; - out_245560868528396178[118] = 0.0; - out_245560868528396178[119] = 0.0; - out_245560868528396178[120] = 0.0; - out_245560868528396178[121] = 0.0; - out_245560868528396178[122] = 0.0; - out_245560868528396178[123] = 0.0; - out_245560868528396178[124] = 0.0; - out_245560868528396178[125] = 0.0; - out_245560868528396178[126] = 0.0; - out_245560868528396178[127] = 0.0; - out_245560868528396178[128] = 0.0; - out_245560868528396178[129] = 0.0; - out_245560868528396178[130] = 0.0; - out_245560868528396178[131] = 0.0; - out_245560868528396178[132] = 0.0; - out_245560868528396178[133] = 1.0; - out_245560868528396178[134] = 0.0; - out_245560868528396178[135] = 0.0; - out_245560868528396178[136] = 0.0; - out_245560868528396178[137] = 0.0; - out_245560868528396178[138] = 0.0; - out_245560868528396178[139] = 0.0; - out_245560868528396178[140] = 0.0; - out_245560868528396178[141] = 0.0; - out_245560868528396178[142] = 0.0; - out_245560868528396178[143] = 0.0; - out_245560868528396178[144] = 0.0; - out_245560868528396178[145] = 0.0; - out_245560868528396178[146] = 0.0; - out_245560868528396178[147] = 0.0; - out_245560868528396178[148] = 0.0; - out_245560868528396178[149] = 0.0; - out_245560868528396178[150] = 0.0; - out_245560868528396178[151] = 0.0; - out_245560868528396178[152] = 1.0; - out_245560868528396178[153] = 0.0; - out_245560868528396178[154] = 0.0; - out_245560868528396178[155] = 0.0; - out_245560868528396178[156] = 0.0; - out_245560868528396178[157] = 0.0; - out_245560868528396178[158] = 0.0; - out_245560868528396178[159] = 0.0; - out_245560868528396178[160] = 0.0; - out_245560868528396178[161] = 0.0; - out_245560868528396178[162] = 0.0; - out_245560868528396178[163] = 0.0; - out_245560868528396178[164] = 0.0; - out_245560868528396178[165] = 0.0; - out_245560868528396178[166] = 0.0; - out_245560868528396178[167] = 0.0; - out_245560868528396178[168] = 0.0; - out_245560868528396178[169] = 0.0; - out_245560868528396178[170] = 0.0; - out_245560868528396178[171] = 1.0; - out_245560868528396178[172] = 0.0; - out_245560868528396178[173] = 0.0; - out_245560868528396178[174] = 0.0; - out_245560868528396178[175] = 0.0; - out_245560868528396178[176] = 0.0; - out_245560868528396178[177] = 0.0; - out_245560868528396178[178] = 0.0; - out_245560868528396178[179] = 0.0; - out_245560868528396178[180] = 0.0; - out_245560868528396178[181] = 0.0; - out_245560868528396178[182] = 0.0; - out_245560868528396178[183] = 0.0; - out_245560868528396178[184] = 0.0; - out_245560868528396178[185] = 0.0; - out_245560868528396178[186] = 0.0; - out_245560868528396178[187] = 0.0; - out_245560868528396178[188] = 0.0; - out_245560868528396178[189] = 0.0; - out_245560868528396178[190] = 1.0; - out_245560868528396178[191] = 0.0; - out_245560868528396178[192] = 0.0; - out_245560868528396178[193] = 0.0; - out_245560868528396178[194] = 0.0; - out_245560868528396178[195] = 0.0; - out_245560868528396178[196] = 0.0; - out_245560868528396178[197] = 0.0; - out_245560868528396178[198] = 0.0; - out_245560868528396178[199] = 0.0; - out_245560868528396178[200] = 0.0; - out_245560868528396178[201] = 0.0; - out_245560868528396178[202] = 0.0; - out_245560868528396178[203] = 0.0; - out_245560868528396178[204] = 0.0; - out_245560868528396178[205] = 0.0; - out_245560868528396178[206] = 0.0; - out_245560868528396178[207] = 0.0; - out_245560868528396178[208] = 0.0; - out_245560868528396178[209] = 1.0; - out_245560868528396178[210] = 0.0; - out_245560868528396178[211] = 0.0; - out_245560868528396178[212] = 0.0; - out_245560868528396178[213] = 0.0; - out_245560868528396178[214] = 0.0; - out_245560868528396178[215] = 0.0; - out_245560868528396178[216] = 0.0; - out_245560868528396178[217] = 0.0; - out_245560868528396178[218] = 0.0; - out_245560868528396178[219] = 0.0; - out_245560868528396178[220] = 0.0; - out_245560868528396178[221] = 0.0; - out_245560868528396178[222] = 0.0; - out_245560868528396178[223] = 0.0; - out_245560868528396178[224] = 0.0; - out_245560868528396178[225] = 0.0; - out_245560868528396178[226] = 0.0; - out_245560868528396178[227] = 0.0; - out_245560868528396178[228] = 1.0; - out_245560868528396178[229] = 0.0; - out_245560868528396178[230] = 0.0; - out_245560868528396178[231] = 0.0; - out_245560868528396178[232] = 0.0; - out_245560868528396178[233] = 0.0; - out_245560868528396178[234] = 0.0; - out_245560868528396178[235] = 0.0; - out_245560868528396178[236] = 0.0; - out_245560868528396178[237] = 0.0; - out_245560868528396178[238] = 0.0; - out_245560868528396178[239] = 0.0; - out_245560868528396178[240] = 0.0; - out_245560868528396178[241] = 0.0; - out_245560868528396178[242] = 0.0; - out_245560868528396178[243] = 0.0; - out_245560868528396178[244] = 0.0; - out_245560868528396178[245] = 0.0; - out_245560868528396178[246] = 0.0; - out_245560868528396178[247] = 1.0; - out_245560868528396178[248] = 0.0; - out_245560868528396178[249] = 0.0; - out_245560868528396178[250] = 0.0; - out_245560868528396178[251] = 0.0; - out_245560868528396178[252] = 0.0; - out_245560868528396178[253] = 0.0; - out_245560868528396178[254] = 0.0; - out_245560868528396178[255] = 0.0; - out_245560868528396178[256] = 0.0; - out_245560868528396178[257] = 0.0; - out_245560868528396178[258] = 0.0; - out_245560868528396178[259] = 0.0; - out_245560868528396178[260] = 0.0; - out_245560868528396178[261] = 0.0; - out_245560868528396178[262] = 0.0; - out_245560868528396178[263] = 0.0; - out_245560868528396178[264] = 0.0; - out_245560868528396178[265] = 0.0; - out_245560868528396178[266] = 1.0; - out_245560868528396178[267] = 0.0; - out_245560868528396178[268] = 0.0; - out_245560868528396178[269] = 0.0; - out_245560868528396178[270] = 0.0; - out_245560868528396178[271] = 0.0; - out_245560868528396178[272] = 0.0; - out_245560868528396178[273] = 0.0; - out_245560868528396178[274] = 0.0; - out_245560868528396178[275] = 0.0; - out_245560868528396178[276] = 0.0; - out_245560868528396178[277] = 0.0; - out_245560868528396178[278] = 0.0; - out_245560868528396178[279] = 0.0; - out_245560868528396178[280] = 0.0; - out_245560868528396178[281] = 0.0; - out_245560868528396178[282] = 0.0; - out_245560868528396178[283] = 0.0; - out_245560868528396178[284] = 0.0; - out_245560868528396178[285] = 1.0; - out_245560868528396178[286] = 0.0; - out_245560868528396178[287] = 0.0; - out_245560868528396178[288] = 0.0; - out_245560868528396178[289] = 0.0; - out_245560868528396178[290] = 0.0; - out_245560868528396178[291] = 0.0; - out_245560868528396178[292] = 0.0; - out_245560868528396178[293] = 0.0; - out_245560868528396178[294] = 0.0; - out_245560868528396178[295] = 0.0; - out_245560868528396178[296] = 0.0; - out_245560868528396178[297] = 0.0; - out_245560868528396178[298] = 0.0; - out_245560868528396178[299] = 0.0; - out_245560868528396178[300] = 0.0; - out_245560868528396178[301] = 0.0; - out_245560868528396178[302] = 0.0; - out_245560868528396178[303] = 0.0; - out_245560868528396178[304] = 1.0; - out_245560868528396178[305] = 0.0; - out_245560868528396178[306] = 0.0; - out_245560868528396178[307] = 0.0; - out_245560868528396178[308] = 0.0; - out_245560868528396178[309] = 0.0; - out_245560868528396178[310] = 0.0; - out_245560868528396178[311] = 0.0; - out_245560868528396178[312] = 0.0; - out_245560868528396178[313] = 0.0; - out_245560868528396178[314] = 0.0; - out_245560868528396178[315] = 0.0; - out_245560868528396178[316] = 0.0; - out_245560868528396178[317] = 0.0; - out_245560868528396178[318] = 0.0; - out_245560868528396178[319] = 0.0; - out_245560868528396178[320] = 0.0; - out_245560868528396178[321] = 0.0; - out_245560868528396178[322] = 0.0; - out_245560868528396178[323] = 1.0; +void H_mod_fun(double *state, double *out_8315920796386777796) { + out_8315920796386777796[0] = 1.0; + out_8315920796386777796[1] = 0.0; + out_8315920796386777796[2] = 0.0; + out_8315920796386777796[3] = 0.0; + out_8315920796386777796[4] = 0.0; + out_8315920796386777796[5] = 0.0; + out_8315920796386777796[6] = 0.0; + out_8315920796386777796[7] = 0.0; + out_8315920796386777796[8] = 0.0; + out_8315920796386777796[9] = 0.0; + out_8315920796386777796[10] = 0.0; + out_8315920796386777796[11] = 0.0; + out_8315920796386777796[12] = 0.0; + out_8315920796386777796[13] = 0.0; + out_8315920796386777796[14] = 0.0; + out_8315920796386777796[15] = 0.0; + out_8315920796386777796[16] = 0.0; + out_8315920796386777796[17] = 0.0; + out_8315920796386777796[18] = 0.0; + out_8315920796386777796[19] = 1.0; + out_8315920796386777796[20] = 0.0; + out_8315920796386777796[21] = 0.0; + out_8315920796386777796[22] = 0.0; + out_8315920796386777796[23] = 0.0; + out_8315920796386777796[24] = 0.0; + out_8315920796386777796[25] = 0.0; + out_8315920796386777796[26] = 0.0; + out_8315920796386777796[27] = 0.0; + out_8315920796386777796[28] = 0.0; + out_8315920796386777796[29] = 0.0; + out_8315920796386777796[30] = 0.0; + out_8315920796386777796[31] = 0.0; + out_8315920796386777796[32] = 0.0; + out_8315920796386777796[33] = 0.0; + out_8315920796386777796[34] = 0.0; + out_8315920796386777796[35] = 0.0; + out_8315920796386777796[36] = 0.0; + out_8315920796386777796[37] = 0.0; + out_8315920796386777796[38] = 1.0; + out_8315920796386777796[39] = 0.0; + out_8315920796386777796[40] = 0.0; + out_8315920796386777796[41] = 0.0; + out_8315920796386777796[42] = 0.0; + out_8315920796386777796[43] = 0.0; + out_8315920796386777796[44] = 0.0; + out_8315920796386777796[45] = 0.0; + out_8315920796386777796[46] = 0.0; + out_8315920796386777796[47] = 0.0; + out_8315920796386777796[48] = 0.0; + out_8315920796386777796[49] = 0.0; + out_8315920796386777796[50] = 0.0; + out_8315920796386777796[51] = 0.0; + out_8315920796386777796[52] = 0.0; + out_8315920796386777796[53] = 0.0; + out_8315920796386777796[54] = 0.0; + out_8315920796386777796[55] = 0.0; + out_8315920796386777796[56] = 0.0; + out_8315920796386777796[57] = 1.0; + out_8315920796386777796[58] = 0.0; + out_8315920796386777796[59] = 0.0; + out_8315920796386777796[60] = 0.0; + out_8315920796386777796[61] = 0.0; + out_8315920796386777796[62] = 0.0; + out_8315920796386777796[63] = 0.0; + out_8315920796386777796[64] = 0.0; + out_8315920796386777796[65] = 0.0; + out_8315920796386777796[66] = 0.0; + out_8315920796386777796[67] = 0.0; + out_8315920796386777796[68] = 0.0; + out_8315920796386777796[69] = 0.0; + out_8315920796386777796[70] = 0.0; + out_8315920796386777796[71] = 0.0; + out_8315920796386777796[72] = 0.0; + out_8315920796386777796[73] = 0.0; + out_8315920796386777796[74] = 0.0; + out_8315920796386777796[75] = 0.0; + out_8315920796386777796[76] = 1.0; + out_8315920796386777796[77] = 0.0; + out_8315920796386777796[78] = 0.0; + out_8315920796386777796[79] = 0.0; + out_8315920796386777796[80] = 0.0; + out_8315920796386777796[81] = 0.0; + out_8315920796386777796[82] = 0.0; + out_8315920796386777796[83] = 0.0; + out_8315920796386777796[84] = 0.0; + out_8315920796386777796[85] = 0.0; + out_8315920796386777796[86] = 0.0; + out_8315920796386777796[87] = 0.0; + out_8315920796386777796[88] = 0.0; + out_8315920796386777796[89] = 0.0; + out_8315920796386777796[90] = 0.0; + out_8315920796386777796[91] = 0.0; + out_8315920796386777796[92] = 0.0; + out_8315920796386777796[93] = 0.0; + out_8315920796386777796[94] = 0.0; + out_8315920796386777796[95] = 1.0; + out_8315920796386777796[96] = 0.0; + out_8315920796386777796[97] = 0.0; + out_8315920796386777796[98] = 0.0; + out_8315920796386777796[99] = 0.0; + out_8315920796386777796[100] = 0.0; + out_8315920796386777796[101] = 0.0; + out_8315920796386777796[102] = 0.0; + out_8315920796386777796[103] = 0.0; + out_8315920796386777796[104] = 0.0; + out_8315920796386777796[105] = 0.0; + out_8315920796386777796[106] = 0.0; + out_8315920796386777796[107] = 0.0; + out_8315920796386777796[108] = 0.0; + out_8315920796386777796[109] = 0.0; + out_8315920796386777796[110] = 0.0; + out_8315920796386777796[111] = 0.0; + out_8315920796386777796[112] = 0.0; + out_8315920796386777796[113] = 0.0; + out_8315920796386777796[114] = 1.0; + out_8315920796386777796[115] = 0.0; + out_8315920796386777796[116] = 0.0; + out_8315920796386777796[117] = 0.0; + out_8315920796386777796[118] = 0.0; + out_8315920796386777796[119] = 0.0; + out_8315920796386777796[120] = 0.0; + out_8315920796386777796[121] = 0.0; + out_8315920796386777796[122] = 0.0; + out_8315920796386777796[123] = 0.0; + out_8315920796386777796[124] = 0.0; + out_8315920796386777796[125] = 0.0; + out_8315920796386777796[126] = 0.0; + out_8315920796386777796[127] = 0.0; + out_8315920796386777796[128] = 0.0; + out_8315920796386777796[129] = 0.0; + out_8315920796386777796[130] = 0.0; + out_8315920796386777796[131] = 0.0; + out_8315920796386777796[132] = 0.0; + out_8315920796386777796[133] = 1.0; + out_8315920796386777796[134] = 0.0; + out_8315920796386777796[135] = 0.0; + out_8315920796386777796[136] = 0.0; + out_8315920796386777796[137] = 0.0; + out_8315920796386777796[138] = 0.0; + out_8315920796386777796[139] = 0.0; + out_8315920796386777796[140] = 0.0; + out_8315920796386777796[141] = 0.0; + out_8315920796386777796[142] = 0.0; + out_8315920796386777796[143] = 0.0; + out_8315920796386777796[144] = 0.0; + out_8315920796386777796[145] = 0.0; + out_8315920796386777796[146] = 0.0; + out_8315920796386777796[147] = 0.0; + out_8315920796386777796[148] = 0.0; + out_8315920796386777796[149] = 0.0; + out_8315920796386777796[150] = 0.0; + out_8315920796386777796[151] = 0.0; + out_8315920796386777796[152] = 1.0; + out_8315920796386777796[153] = 0.0; + out_8315920796386777796[154] = 0.0; + out_8315920796386777796[155] = 0.0; + out_8315920796386777796[156] = 0.0; + out_8315920796386777796[157] = 0.0; + out_8315920796386777796[158] = 0.0; + out_8315920796386777796[159] = 0.0; + out_8315920796386777796[160] = 0.0; + out_8315920796386777796[161] = 0.0; + out_8315920796386777796[162] = 0.0; + out_8315920796386777796[163] = 0.0; + out_8315920796386777796[164] = 0.0; + out_8315920796386777796[165] = 0.0; + out_8315920796386777796[166] = 0.0; + out_8315920796386777796[167] = 0.0; + out_8315920796386777796[168] = 0.0; + out_8315920796386777796[169] = 0.0; + out_8315920796386777796[170] = 0.0; + out_8315920796386777796[171] = 1.0; + out_8315920796386777796[172] = 0.0; + out_8315920796386777796[173] = 0.0; + out_8315920796386777796[174] = 0.0; + out_8315920796386777796[175] = 0.0; + out_8315920796386777796[176] = 0.0; + out_8315920796386777796[177] = 0.0; + out_8315920796386777796[178] = 0.0; + out_8315920796386777796[179] = 0.0; + out_8315920796386777796[180] = 0.0; + out_8315920796386777796[181] = 0.0; + out_8315920796386777796[182] = 0.0; + out_8315920796386777796[183] = 0.0; + out_8315920796386777796[184] = 0.0; + out_8315920796386777796[185] = 0.0; + out_8315920796386777796[186] = 0.0; + out_8315920796386777796[187] = 0.0; + out_8315920796386777796[188] = 0.0; + out_8315920796386777796[189] = 0.0; + out_8315920796386777796[190] = 1.0; + out_8315920796386777796[191] = 0.0; + out_8315920796386777796[192] = 0.0; + out_8315920796386777796[193] = 0.0; + out_8315920796386777796[194] = 0.0; + out_8315920796386777796[195] = 0.0; + out_8315920796386777796[196] = 0.0; + out_8315920796386777796[197] = 0.0; + out_8315920796386777796[198] = 0.0; + out_8315920796386777796[199] = 0.0; + out_8315920796386777796[200] = 0.0; + out_8315920796386777796[201] = 0.0; + out_8315920796386777796[202] = 0.0; + out_8315920796386777796[203] = 0.0; + out_8315920796386777796[204] = 0.0; + out_8315920796386777796[205] = 0.0; + out_8315920796386777796[206] = 0.0; + out_8315920796386777796[207] = 0.0; + out_8315920796386777796[208] = 0.0; + out_8315920796386777796[209] = 1.0; + out_8315920796386777796[210] = 0.0; + out_8315920796386777796[211] = 0.0; + out_8315920796386777796[212] = 0.0; + out_8315920796386777796[213] = 0.0; + out_8315920796386777796[214] = 0.0; + out_8315920796386777796[215] = 0.0; + out_8315920796386777796[216] = 0.0; + out_8315920796386777796[217] = 0.0; + out_8315920796386777796[218] = 0.0; + out_8315920796386777796[219] = 0.0; + out_8315920796386777796[220] = 0.0; + out_8315920796386777796[221] = 0.0; + out_8315920796386777796[222] = 0.0; + out_8315920796386777796[223] = 0.0; + out_8315920796386777796[224] = 0.0; + out_8315920796386777796[225] = 0.0; + out_8315920796386777796[226] = 0.0; + out_8315920796386777796[227] = 0.0; + out_8315920796386777796[228] = 1.0; + out_8315920796386777796[229] = 0.0; + out_8315920796386777796[230] = 0.0; + out_8315920796386777796[231] = 0.0; + out_8315920796386777796[232] = 0.0; + out_8315920796386777796[233] = 0.0; + out_8315920796386777796[234] = 0.0; + out_8315920796386777796[235] = 0.0; + out_8315920796386777796[236] = 0.0; + out_8315920796386777796[237] = 0.0; + out_8315920796386777796[238] = 0.0; + out_8315920796386777796[239] = 0.0; + out_8315920796386777796[240] = 0.0; + out_8315920796386777796[241] = 0.0; + out_8315920796386777796[242] = 0.0; + out_8315920796386777796[243] = 0.0; + out_8315920796386777796[244] = 0.0; + out_8315920796386777796[245] = 0.0; + out_8315920796386777796[246] = 0.0; + out_8315920796386777796[247] = 1.0; + out_8315920796386777796[248] = 0.0; + out_8315920796386777796[249] = 0.0; + out_8315920796386777796[250] = 0.0; + out_8315920796386777796[251] = 0.0; + out_8315920796386777796[252] = 0.0; + out_8315920796386777796[253] = 0.0; + out_8315920796386777796[254] = 0.0; + out_8315920796386777796[255] = 0.0; + out_8315920796386777796[256] = 0.0; + out_8315920796386777796[257] = 0.0; + out_8315920796386777796[258] = 0.0; + out_8315920796386777796[259] = 0.0; + out_8315920796386777796[260] = 0.0; + out_8315920796386777796[261] = 0.0; + out_8315920796386777796[262] = 0.0; + out_8315920796386777796[263] = 0.0; + out_8315920796386777796[264] = 0.0; + out_8315920796386777796[265] = 0.0; + out_8315920796386777796[266] = 1.0; + out_8315920796386777796[267] = 0.0; + out_8315920796386777796[268] = 0.0; + out_8315920796386777796[269] = 0.0; + out_8315920796386777796[270] = 0.0; + out_8315920796386777796[271] = 0.0; + out_8315920796386777796[272] = 0.0; + out_8315920796386777796[273] = 0.0; + out_8315920796386777796[274] = 0.0; + out_8315920796386777796[275] = 0.0; + out_8315920796386777796[276] = 0.0; + out_8315920796386777796[277] = 0.0; + out_8315920796386777796[278] = 0.0; + out_8315920796386777796[279] = 0.0; + out_8315920796386777796[280] = 0.0; + out_8315920796386777796[281] = 0.0; + out_8315920796386777796[282] = 0.0; + out_8315920796386777796[283] = 0.0; + out_8315920796386777796[284] = 0.0; + out_8315920796386777796[285] = 1.0; + out_8315920796386777796[286] = 0.0; + out_8315920796386777796[287] = 0.0; + out_8315920796386777796[288] = 0.0; + out_8315920796386777796[289] = 0.0; + out_8315920796386777796[290] = 0.0; + out_8315920796386777796[291] = 0.0; + out_8315920796386777796[292] = 0.0; + out_8315920796386777796[293] = 0.0; + out_8315920796386777796[294] = 0.0; + out_8315920796386777796[295] = 0.0; + out_8315920796386777796[296] = 0.0; + out_8315920796386777796[297] = 0.0; + out_8315920796386777796[298] = 0.0; + out_8315920796386777796[299] = 0.0; + out_8315920796386777796[300] = 0.0; + out_8315920796386777796[301] = 0.0; + out_8315920796386777796[302] = 0.0; + out_8315920796386777796[303] = 0.0; + out_8315920796386777796[304] = 1.0; + out_8315920796386777796[305] = 0.0; + out_8315920796386777796[306] = 0.0; + out_8315920796386777796[307] = 0.0; + out_8315920796386777796[308] = 0.0; + out_8315920796386777796[309] = 0.0; + out_8315920796386777796[310] = 0.0; + out_8315920796386777796[311] = 0.0; + out_8315920796386777796[312] = 0.0; + out_8315920796386777796[313] = 0.0; + out_8315920796386777796[314] = 0.0; + out_8315920796386777796[315] = 0.0; + out_8315920796386777796[316] = 0.0; + out_8315920796386777796[317] = 0.0; + out_8315920796386777796[318] = 0.0; + out_8315920796386777796[319] = 0.0; + out_8315920796386777796[320] = 0.0; + out_8315920796386777796[321] = 0.0; + out_8315920796386777796[322] = 0.0; + out_8315920796386777796[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8465405656783528291) { - out_8465405656783528291[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_8465405656783528291[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_8465405656783528291[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_8465405656783528291[3] = dt*state[12] + state[3]; - out_8465405656783528291[4] = dt*state[13] + state[4]; - out_8465405656783528291[5] = dt*state[14] + state[5]; - out_8465405656783528291[6] = state[6]; - out_8465405656783528291[7] = state[7]; - out_8465405656783528291[8] = state[8]; - out_8465405656783528291[9] = state[9]; - out_8465405656783528291[10] = state[10]; - out_8465405656783528291[11] = state[11]; - out_8465405656783528291[12] = state[12]; - out_8465405656783528291[13] = state[13]; - out_8465405656783528291[14] = state[14]; - out_8465405656783528291[15] = state[15]; - out_8465405656783528291[16] = state[16]; - out_8465405656783528291[17] = state[17]; +void f_fun(double *state, double dt, double *out_1706853749310621885) { + out_1706853749310621885[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_1706853749310621885[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_1706853749310621885[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_1706853749310621885[3] = dt*state[12] + state[3]; + out_1706853749310621885[4] = dt*state[13] + state[4]; + out_1706853749310621885[5] = dt*state[14] + state[5]; + out_1706853749310621885[6] = state[6]; + out_1706853749310621885[7] = state[7]; + out_1706853749310621885[8] = state[8]; + out_1706853749310621885[9] = state[9]; + out_1706853749310621885[10] = state[10]; + out_1706853749310621885[11] = state[11]; + out_1706853749310621885[12] = state[12]; + out_1706853749310621885[13] = state[13]; + out_1706853749310621885[14] = state[14]; + out_1706853749310621885[15] = state[15]; + out_1706853749310621885[16] = state[16]; + out_1706853749310621885[17] = state[17]; } -void F_fun(double *state, double dt, double *out_5153518595662752782) { - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[2] = 0; - out_5153518595662752782[3] = 0; - out_5153518595662752782[4] = 0; - out_5153518595662752782[5] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[9] = 0; - out_5153518595662752782[10] = 0; - out_5153518595662752782[11] = 0; - out_5153518595662752782[12] = 0; - out_5153518595662752782[13] = 0; - out_5153518595662752782[14] = 0; - out_5153518595662752782[15] = 0; - out_5153518595662752782[16] = 0; - out_5153518595662752782[17] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[20] = 0; - out_5153518595662752782[21] = 0; - out_5153518595662752782[22] = 0; - out_5153518595662752782[23] = 0; - out_5153518595662752782[24] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[27] = 0; - out_5153518595662752782[28] = 0; - out_5153518595662752782[29] = 0; - out_5153518595662752782[30] = 0; - out_5153518595662752782[31] = 0; - out_5153518595662752782[32] = 0; - out_5153518595662752782[33] = 0; - out_5153518595662752782[34] = 0; - out_5153518595662752782[35] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[39] = 0; - out_5153518595662752782[40] = 0; - out_5153518595662752782[41] = 0; - out_5153518595662752782[42] = 0; - out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[45] = 0; - out_5153518595662752782[46] = 0; - out_5153518595662752782[47] = 0; - out_5153518595662752782[48] = 0; - out_5153518595662752782[49] = 0; - out_5153518595662752782[50] = 0; - out_5153518595662752782[51] = 0; - out_5153518595662752782[52] = 0; - out_5153518595662752782[53] = 0; - out_5153518595662752782[54] = 0; - out_5153518595662752782[55] = 0; - out_5153518595662752782[56] = 0; - out_5153518595662752782[57] = 1; - out_5153518595662752782[58] = 0; - out_5153518595662752782[59] = 0; - out_5153518595662752782[60] = 0; - out_5153518595662752782[61] = 0; - out_5153518595662752782[62] = 0; - out_5153518595662752782[63] = 0; - out_5153518595662752782[64] = 0; - out_5153518595662752782[65] = 0; - out_5153518595662752782[66] = dt; - out_5153518595662752782[67] = 0; - out_5153518595662752782[68] = 0; - out_5153518595662752782[69] = 0; - out_5153518595662752782[70] = 0; - out_5153518595662752782[71] = 0; - out_5153518595662752782[72] = 0; - out_5153518595662752782[73] = 0; - out_5153518595662752782[74] = 0; - out_5153518595662752782[75] = 0; - out_5153518595662752782[76] = 1; - out_5153518595662752782[77] = 0; - out_5153518595662752782[78] = 0; - out_5153518595662752782[79] = 0; - out_5153518595662752782[80] = 0; - out_5153518595662752782[81] = 0; - out_5153518595662752782[82] = 0; - out_5153518595662752782[83] = 0; - out_5153518595662752782[84] = 0; - out_5153518595662752782[85] = dt; - out_5153518595662752782[86] = 0; - out_5153518595662752782[87] = 0; - out_5153518595662752782[88] = 0; - out_5153518595662752782[89] = 0; - out_5153518595662752782[90] = 0; - out_5153518595662752782[91] = 0; - out_5153518595662752782[92] = 0; - out_5153518595662752782[93] = 0; - out_5153518595662752782[94] = 0; - out_5153518595662752782[95] = 1; - out_5153518595662752782[96] = 0; - out_5153518595662752782[97] = 0; - out_5153518595662752782[98] = 0; - out_5153518595662752782[99] = 0; - out_5153518595662752782[100] = 0; - out_5153518595662752782[101] = 0; - out_5153518595662752782[102] = 0; - out_5153518595662752782[103] = 0; - out_5153518595662752782[104] = dt; - out_5153518595662752782[105] = 0; - out_5153518595662752782[106] = 0; - out_5153518595662752782[107] = 0; - out_5153518595662752782[108] = 0; - out_5153518595662752782[109] = 0; - out_5153518595662752782[110] = 0; - out_5153518595662752782[111] = 0; - out_5153518595662752782[112] = 0; - out_5153518595662752782[113] = 0; - out_5153518595662752782[114] = 1; - out_5153518595662752782[115] = 0; - out_5153518595662752782[116] = 0; - out_5153518595662752782[117] = 0; - out_5153518595662752782[118] = 0; - out_5153518595662752782[119] = 0; - out_5153518595662752782[120] = 0; - out_5153518595662752782[121] = 0; - out_5153518595662752782[122] = 0; - out_5153518595662752782[123] = 0; - out_5153518595662752782[124] = 0; - out_5153518595662752782[125] = 0; - out_5153518595662752782[126] = 0; - out_5153518595662752782[127] = 0; - out_5153518595662752782[128] = 0; - out_5153518595662752782[129] = 0; - out_5153518595662752782[130] = 0; - out_5153518595662752782[131] = 0; - out_5153518595662752782[132] = 0; - out_5153518595662752782[133] = 1; - out_5153518595662752782[134] = 0; - out_5153518595662752782[135] = 0; - out_5153518595662752782[136] = 0; - out_5153518595662752782[137] = 0; - out_5153518595662752782[138] = 0; - out_5153518595662752782[139] = 0; - out_5153518595662752782[140] = 0; - out_5153518595662752782[141] = 0; - out_5153518595662752782[142] = 0; - out_5153518595662752782[143] = 0; - out_5153518595662752782[144] = 0; - out_5153518595662752782[145] = 0; - out_5153518595662752782[146] = 0; - out_5153518595662752782[147] = 0; - out_5153518595662752782[148] = 0; - out_5153518595662752782[149] = 0; - out_5153518595662752782[150] = 0; - out_5153518595662752782[151] = 0; - out_5153518595662752782[152] = 1; - out_5153518595662752782[153] = 0; - out_5153518595662752782[154] = 0; - out_5153518595662752782[155] = 0; - out_5153518595662752782[156] = 0; - out_5153518595662752782[157] = 0; - out_5153518595662752782[158] = 0; - out_5153518595662752782[159] = 0; - out_5153518595662752782[160] = 0; - out_5153518595662752782[161] = 0; - out_5153518595662752782[162] = 0; - out_5153518595662752782[163] = 0; - out_5153518595662752782[164] = 0; - out_5153518595662752782[165] = 0; - out_5153518595662752782[166] = 0; - out_5153518595662752782[167] = 0; - out_5153518595662752782[168] = 0; - out_5153518595662752782[169] = 0; - out_5153518595662752782[170] = 0; - out_5153518595662752782[171] = 1; - out_5153518595662752782[172] = 0; - out_5153518595662752782[173] = 0; - out_5153518595662752782[174] = 0; - out_5153518595662752782[175] = 0; - out_5153518595662752782[176] = 0; - out_5153518595662752782[177] = 0; - out_5153518595662752782[178] = 0; - out_5153518595662752782[179] = 0; - out_5153518595662752782[180] = 0; - out_5153518595662752782[181] = 0; - out_5153518595662752782[182] = 0; - out_5153518595662752782[183] = 0; - out_5153518595662752782[184] = 0; - out_5153518595662752782[185] = 0; - out_5153518595662752782[186] = 0; - out_5153518595662752782[187] = 0; - out_5153518595662752782[188] = 0; - out_5153518595662752782[189] = 0; - out_5153518595662752782[190] = 1; - out_5153518595662752782[191] = 0; - out_5153518595662752782[192] = 0; - out_5153518595662752782[193] = 0; - out_5153518595662752782[194] = 0; - out_5153518595662752782[195] = 0; - out_5153518595662752782[196] = 0; - out_5153518595662752782[197] = 0; - out_5153518595662752782[198] = 0; - out_5153518595662752782[199] = 0; - out_5153518595662752782[200] = 0; - out_5153518595662752782[201] = 0; - out_5153518595662752782[202] = 0; - out_5153518595662752782[203] = 0; - out_5153518595662752782[204] = 0; - out_5153518595662752782[205] = 0; - out_5153518595662752782[206] = 0; - out_5153518595662752782[207] = 0; - out_5153518595662752782[208] = 0; - out_5153518595662752782[209] = 1; - out_5153518595662752782[210] = 0; - out_5153518595662752782[211] = 0; - out_5153518595662752782[212] = 0; - out_5153518595662752782[213] = 0; - out_5153518595662752782[214] = 0; - out_5153518595662752782[215] = 0; - out_5153518595662752782[216] = 0; - out_5153518595662752782[217] = 0; - out_5153518595662752782[218] = 0; - out_5153518595662752782[219] = 0; - out_5153518595662752782[220] = 0; - out_5153518595662752782[221] = 0; - out_5153518595662752782[222] = 0; - out_5153518595662752782[223] = 0; - out_5153518595662752782[224] = 0; - out_5153518595662752782[225] = 0; - out_5153518595662752782[226] = 0; - out_5153518595662752782[227] = 0; - out_5153518595662752782[228] = 1; - out_5153518595662752782[229] = 0; - out_5153518595662752782[230] = 0; - out_5153518595662752782[231] = 0; - out_5153518595662752782[232] = 0; - out_5153518595662752782[233] = 0; - out_5153518595662752782[234] = 0; - out_5153518595662752782[235] = 0; - out_5153518595662752782[236] = 0; - out_5153518595662752782[237] = 0; - out_5153518595662752782[238] = 0; - out_5153518595662752782[239] = 0; - out_5153518595662752782[240] = 0; - out_5153518595662752782[241] = 0; - out_5153518595662752782[242] = 0; - out_5153518595662752782[243] = 0; - out_5153518595662752782[244] = 0; - out_5153518595662752782[245] = 0; - out_5153518595662752782[246] = 0; - out_5153518595662752782[247] = 1; - out_5153518595662752782[248] = 0; - out_5153518595662752782[249] = 0; - out_5153518595662752782[250] = 0; - out_5153518595662752782[251] = 0; - out_5153518595662752782[252] = 0; - out_5153518595662752782[253] = 0; - out_5153518595662752782[254] = 0; - out_5153518595662752782[255] = 0; - out_5153518595662752782[256] = 0; - out_5153518595662752782[257] = 0; - out_5153518595662752782[258] = 0; - out_5153518595662752782[259] = 0; - out_5153518595662752782[260] = 0; - out_5153518595662752782[261] = 0; - out_5153518595662752782[262] = 0; - out_5153518595662752782[263] = 0; - out_5153518595662752782[264] = 0; - out_5153518595662752782[265] = 0; - out_5153518595662752782[266] = 1; - out_5153518595662752782[267] = 0; - out_5153518595662752782[268] = 0; - out_5153518595662752782[269] = 0; - out_5153518595662752782[270] = 0; - out_5153518595662752782[271] = 0; - out_5153518595662752782[272] = 0; - out_5153518595662752782[273] = 0; - out_5153518595662752782[274] = 0; - out_5153518595662752782[275] = 0; - out_5153518595662752782[276] = 0; - out_5153518595662752782[277] = 0; - out_5153518595662752782[278] = 0; - out_5153518595662752782[279] = 0; - out_5153518595662752782[280] = 0; - out_5153518595662752782[281] = 0; - out_5153518595662752782[282] = 0; - out_5153518595662752782[283] = 0; - out_5153518595662752782[284] = 0; - out_5153518595662752782[285] = 1; - out_5153518595662752782[286] = 0; - out_5153518595662752782[287] = 0; - out_5153518595662752782[288] = 0; - out_5153518595662752782[289] = 0; - out_5153518595662752782[290] = 0; - out_5153518595662752782[291] = 0; - out_5153518595662752782[292] = 0; - out_5153518595662752782[293] = 0; - out_5153518595662752782[294] = 0; - out_5153518595662752782[295] = 0; - out_5153518595662752782[296] = 0; - out_5153518595662752782[297] = 0; - out_5153518595662752782[298] = 0; - out_5153518595662752782[299] = 0; - out_5153518595662752782[300] = 0; - out_5153518595662752782[301] = 0; - out_5153518595662752782[302] = 0; - out_5153518595662752782[303] = 0; - out_5153518595662752782[304] = 1; - out_5153518595662752782[305] = 0; - out_5153518595662752782[306] = 0; - out_5153518595662752782[307] = 0; - out_5153518595662752782[308] = 0; - out_5153518595662752782[309] = 0; - out_5153518595662752782[310] = 0; - out_5153518595662752782[311] = 0; - out_5153518595662752782[312] = 0; - out_5153518595662752782[313] = 0; - out_5153518595662752782[314] = 0; - out_5153518595662752782[315] = 0; - out_5153518595662752782[316] = 0; - out_5153518595662752782[317] = 0; - out_5153518595662752782[318] = 0; - out_5153518595662752782[319] = 0; - out_5153518595662752782[320] = 0; - out_5153518595662752782[321] = 0; - out_5153518595662752782[322] = 0; - out_5153518595662752782[323] = 1; +void F_fun(double *state, double dt, double *out_3565612569828347872) { + out_3565612569828347872[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_3565612569828347872[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_3565612569828347872[2] = 0; + out_3565612569828347872[3] = 0; + out_3565612569828347872[4] = 0; + out_3565612569828347872[5] = 0; + out_3565612569828347872[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_3565612569828347872[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_3565612569828347872[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_3565612569828347872[9] = 0; + out_3565612569828347872[10] = 0; + out_3565612569828347872[11] = 0; + out_3565612569828347872[12] = 0; + out_3565612569828347872[13] = 0; + out_3565612569828347872[14] = 0; + out_3565612569828347872[15] = 0; + out_3565612569828347872[16] = 0; + out_3565612569828347872[17] = 0; + out_3565612569828347872[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_3565612569828347872[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_3565612569828347872[20] = 0; + out_3565612569828347872[21] = 0; + out_3565612569828347872[22] = 0; + out_3565612569828347872[23] = 0; + out_3565612569828347872[24] = 0; + out_3565612569828347872[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_3565612569828347872[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_3565612569828347872[27] = 0; + out_3565612569828347872[28] = 0; + out_3565612569828347872[29] = 0; + out_3565612569828347872[30] = 0; + out_3565612569828347872[31] = 0; + out_3565612569828347872[32] = 0; + out_3565612569828347872[33] = 0; + out_3565612569828347872[34] = 0; + out_3565612569828347872[35] = 0; + out_3565612569828347872[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_3565612569828347872[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_3565612569828347872[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_3565612569828347872[39] = 0; + out_3565612569828347872[40] = 0; + out_3565612569828347872[41] = 0; + out_3565612569828347872[42] = 0; + out_3565612569828347872[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_3565612569828347872[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_3565612569828347872[45] = 0; + out_3565612569828347872[46] = 0; + out_3565612569828347872[47] = 0; + out_3565612569828347872[48] = 0; + out_3565612569828347872[49] = 0; + out_3565612569828347872[50] = 0; + out_3565612569828347872[51] = 0; + out_3565612569828347872[52] = 0; + out_3565612569828347872[53] = 0; + out_3565612569828347872[54] = 0; + out_3565612569828347872[55] = 0; + out_3565612569828347872[56] = 0; + out_3565612569828347872[57] = 1; + out_3565612569828347872[58] = 0; + out_3565612569828347872[59] = 0; + out_3565612569828347872[60] = 0; + out_3565612569828347872[61] = 0; + out_3565612569828347872[62] = 0; + out_3565612569828347872[63] = 0; + out_3565612569828347872[64] = 0; + out_3565612569828347872[65] = 0; + out_3565612569828347872[66] = dt; + out_3565612569828347872[67] = 0; + out_3565612569828347872[68] = 0; + out_3565612569828347872[69] = 0; + out_3565612569828347872[70] = 0; + out_3565612569828347872[71] = 0; + out_3565612569828347872[72] = 0; + out_3565612569828347872[73] = 0; + out_3565612569828347872[74] = 0; + out_3565612569828347872[75] = 0; + out_3565612569828347872[76] = 1; + out_3565612569828347872[77] = 0; + out_3565612569828347872[78] = 0; + out_3565612569828347872[79] = 0; + out_3565612569828347872[80] = 0; + out_3565612569828347872[81] = 0; + out_3565612569828347872[82] = 0; + out_3565612569828347872[83] = 0; + out_3565612569828347872[84] = 0; + out_3565612569828347872[85] = dt; + out_3565612569828347872[86] = 0; + out_3565612569828347872[87] = 0; + out_3565612569828347872[88] = 0; + out_3565612569828347872[89] = 0; + out_3565612569828347872[90] = 0; + out_3565612569828347872[91] = 0; + out_3565612569828347872[92] = 0; + out_3565612569828347872[93] = 0; + out_3565612569828347872[94] = 0; + out_3565612569828347872[95] = 1; + out_3565612569828347872[96] = 0; + out_3565612569828347872[97] = 0; + out_3565612569828347872[98] = 0; + out_3565612569828347872[99] = 0; + out_3565612569828347872[100] = 0; + out_3565612569828347872[101] = 0; + out_3565612569828347872[102] = 0; + out_3565612569828347872[103] = 0; + out_3565612569828347872[104] = dt; + out_3565612569828347872[105] = 0; + out_3565612569828347872[106] = 0; + out_3565612569828347872[107] = 0; + out_3565612569828347872[108] = 0; + out_3565612569828347872[109] = 0; + out_3565612569828347872[110] = 0; + out_3565612569828347872[111] = 0; + out_3565612569828347872[112] = 0; + out_3565612569828347872[113] = 0; + out_3565612569828347872[114] = 1; + out_3565612569828347872[115] = 0; + out_3565612569828347872[116] = 0; + out_3565612569828347872[117] = 0; + out_3565612569828347872[118] = 0; + out_3565612569828347872[119] = 0; + out_3565612569828347872[120] = 0; + out_3565612569828347872[121] = 0; + out_3565612569828347872[122] = 0; + out_3565612569828347872[123] = 0; + out_3565612569828347872[124] = 0; + out_3565612569828347872[125] = 0; + out_3565612569828347872[126] = 0; + out_3565612569828347872[127] = 0; + out_3565612569828347872[128] = 0; + out_3565612569828347872[129] = 0; + out_3565612569828347872[130] = 0; + out_3565612569828347872[131] = 0; + out_3565612569828347872[132] = 0; + out_3565612569828347872[133] = 1; + out_3565612569828347872[134] = 0; + out_3565612569828347872[135] = 0; + out_3565612569828347872[136] = 0; + out_3565612569828347872[137] = 0; + out_3565612569828347872[138] = 0; + out_3565612569828347872[139] = 0; + out_3565612569828347872[140] = 0; + out_3565612569828347872[141] = 0; + out_3565612569828347872[142] = 0; + out_3565612569828347872[143] = 0; + out_3565612569828347872[144] = 0; + out_3565612569828347872[145] = 0; + out_3565612569828347872[146] = 0; + out_3565612569828347872[147] = 0; + out_3565612569828347872[148] = 0; + out_3565612569828347872[149] = 0; + out_3565612569828347872[150] = 0; + out_3565612569828347872[151] = 0; + out_3565612569828347872[152] = 1; + out_3565612569828347872[153] = 0; + out_3565612569828347872[154] = 0; + out_3565612569828347872[155] = 0; + out_3565612569828347872[156] = 0; + out_3565612569828347872[157] = 0; + out_3565612569828347872[158] = 0; + out_3565612569828347872[159] = 0; + out_3565612569828347872[160] = 0; + out_3565612569828347872[161] = 0; + out_3565612569828347872[162] = 0; + out_3565612569828347872[163] = 0; + out_3565612569828347872[164] = 0; + out_3565612569828347872[165] = 0; + out_3565612569828347872[166] = 0; + out_3565612569828347872[167] = 0; + out_3565612569828347872[168] = 0; + out_3565612569828347872[169] = 0; + out_3565612569828347872[170] = 0; + out_3565612569828347872[171] = 1; + out_3565612569828347872[172] = 0; + out_3565612569828347872[173] = 0; + out_3565612569828347872[174] = 0; + out_3565612569828347872[175] = 0; + out_3565612569828347872[176] = 0; + out_3565612569828347872[177] = 0; + out_3565612569828347872[178] = 0; + out_3565612569828347872[179] = 0; + out_3565612569828347872[180] = 0; + out_3565612569828347872[181] = 0; + out_3565612569828347872[182] = 0; + out_3565612569828347872[183] = 0; + out_3565612569828347872[184] = 0; + out_3565612569828347872[185] = 0; + out_3565612569828347872[186] = 0; + out_3565612569828347872[187] = 0; + out_3565612569828347872[188] = 0; + out_3565612569828347872[189] = 0; + out_3565612569828347872[190] = 1; + out_3565612569828347872[191] = 0; + out_3565612569828347872[192] = 0; + out_3565612569828347872[193] = 0; + out_3565612569828347872[194] = 0; + out_3565612569828347872[195] = 0; + out_3565612569828347872[196] = 0; + out_3565612569828347872[197] = 0; + out_3565612569828347872[198] = 0; + out_3565612569828347872[199] = 0; + out_3565612569828347872[200] = 0; + out_3565612569828347872[201] = 0; + out_3565612569828347872[202] = 0; + out_3565612569828347872[203] = 0; + out_3565612569828347872[204] = 0; + out_3565612569828347872[205] = 0; + out_3565612569828347872[206] = 0; + out_3565612569828347872[207] = 0; + out_3565612569828347872[208] = 0; + out_3565612569828347872[209] = 1; + out_3565612569828347872[210] = 0; + out_3565612569828347872[211] = 0; + out_3565612569828347872[212] = 0; + out_3565612569828347872[213] = 0; + out_3565612569828347872[214] = 0; + out_3565612569828347872[215] = 0; + out_3565612569828347872[216] = 0; + out_3565612569828347872[217] = 0; + out_3565612569828347872[218] = 0; + out_3565612569828347872[219] = 0; + out_3565612569828347872[220] = 0; + out_3565612569828347872[221] = 0; + out_3565612569828347872[222] = 0; + out_3565612569828347872[223] = 0; + out_3565612569828347872[224] = 0; + out_3565612569828347872[225] = 0; + out_3565612569828347872[226] = 0; + out_3565612569828347872[227] = 0; + out_3565612569828347872[228] = 1; + out_3565612569828347872[229] = 0; + out_3565612569828347872[230] = 0; + out_3565612569828347872[231] = 0; + out_3565612569828347872[232] = 0; + out_3565612569828347872[233] = 0; + out_3565612569828347872[234] = 0; + out_3565612569828347872[235] = 0; + out_3565612569828347872[236] = 0; + out_3565612569828347872[237] = 0; + out_3565612569828347872[238] = 0; + out_3565612569828347872[239] = 0; + out_3565612569828347872[240] = 0; + out_3565612569828347872[241] = 0; + out_3565612569828347872[242] = 0; + out_3565612569828347872[243] = 0; + out_3565612569828347872[244] = 0; + out_3565612569828347872[245] = 0; + out_3565612569828347872[246] = 0; + out_3565612569828347872[247] = 1; + out_3565612569828347872[248] = 0; + out_3565612569828347872[249] = 0; + out_3565612569828347872[250] = 0; + out_3565612569828347872[251] = 0; + out_3565612569828347872[252] = 0; + out_3565612569828347872[253] = 0; + out_3565612569828347872[254] = 0; + out_3565612569828347872[255] = 0; + out_3565612569828347872[256] = 0; + out_3565612569828347872[257] = 0; + out_3565612569828347872[258] = 0; + out_3565612569828347872[259] = 0; + out_3565612569828347872[260] = 0; + out_3565612569828347872[261] = 0; + out_3565612569828347872[262] = 0; + out_3565612569828347872[263] = 0; + out_3565612569828347872[264] = 0; + out_3565612569828347872[265] = 0; + out_3565612569828347872[266] = 1; + out_3565612569828347872[267] = 0; + out_3565612569828347872[268] = 0; + out_3565612569828347872[269] = 0; + out_3565612569828347872[270] = 0; + out_3565612569828347872[271] = 0; + out_3565612569828347872[272] = 0; + out_3565612569828347872[273] = 0; + out_3565612569828347872[274] = 0; + out_3565612569828347872[275] = 0; + out_3565612569828347872[276] = 0; + out_3565612569828347872[277] = 0; + out_3565612569828347872[278] = 0; + out_3565612569828347872[279] = 0; + out_3565612569828347872[280] = 0; + out_3565612569828347872[281] = 0; + out_3565612569828347872[282] = 0; + out_3565612569828347872[283] = 0; + out_3565612569828347872[284] = 0; + out_3565612569828347872[285] = 1; + out_3565612569828347872[286] = 0; + out_3565612569828347872[287] = 0; + out_3565612569828347872[288] = 0; + out_3565612569828347872[289] = 0; + out_3565612569828347872[290] = 0; + out_3565612569828347872[291] = 0; + out_3565612569828347872[292] = 0; + out_3565612569828347872[293] = 0; + out_3565612569828347872[294] = 0; + out_3565612569828347872[295] = 0; + out_3565612569828347872[296] = 0; + out_3565612569828347872[297] = 0; + out_3565612569828347872[298] = 0; + out_3565612569828347872[299] = 0; + out_3565612569828347872[300] = 0; + out_3565612569828347872[301] = 0; + out_3565612569828347872[302] = 0; + out_3565612569828347872[303] = 0; + out_3565612569828347872[304] = 1; + out_3565612569828347872[305] = 0; + out_3565612569828347872[306] = 0; + out_3565612569828347872[307] = 0; + out_3565612569828347872[308] = 0; + out_3565612569828347872[309] = 0; + out_3565612569828347872[310] = 0; + out_3565612569828347872[311] = 0; + out_3565612569828347872[312] = 0; + out_3565612569828347872[313] = 0; + out_3565612569828347872[314] = 0; + out_3565612569828347872[315] = 0; + out_3565612569828347872[316] = 0; + out_3565612569828347872[317] = 0; + out_3565612569828347872[318] = 0; + out_3565612569828347872[319] = 0; + out_3565612569828347872[320] = 0; + out_3565612569828347872[321] = 0; + out_3565612569828347872[322] = 0; + out_3565612569828347872[323] = 1; } -void h_4(double *state, double *unused, double *out_3441983837194168135) { - out_3441983837194168135[0] = state[6] + state[9]; - out_3441983837194168135[1] = state[7] + state[10]; - out_3441983837194168135[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6256833977858620129) { + out_6256833977858620129[0] = state[6] + state[9]; + out_6256833977858620129[1] = state[7] + state[10]; + out_6256833977858620129[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3792847385831294211) { - out_3792847385831294211[0] = 0; - out_3792847385831294211[1] = 0; - out_3792847385831294211[2] = 0; - out_3792847385831294211[3] = 0; - out_3792847385831294211[4] = 0; - out_3792847385831294211[5] = 0; - out_3792847385831294211[6] = 1; - out_3792847385831294211[7] = 0; - out_3792847385831294211[8] = 0; - out_3792847385831294211[9] = 1; - out_3792847385831294211[10] = 0; - out_3792847385831294211[11] = 0; - out_3792847385831294211[12] = 0; - out_3792847385831294211[13] = 0; - out_3792847385831294211[14] = 0; - out_3792847385831294211[15] = 0; - out_3792847385831294211[16] = 0; - out_3792847385831294211[17] = 0; - out_3792847385831294211[18] = 0; - out_3792847385831294211[19] = 0; - out_3792847385831294211[20] = 0; - out_3792847385831294211[21] = 0; - out_3792847385831294211[22] = 0; - out_3792847385831294211[23] = 0; - out_3792847385831294211[24] = 0; - out_3792847385831294211[25] = 1; - out_3792847385831294211[26] = 0; - out_3792847385831294211[27] = 0; - out_3792847385831294211[28] = 1; - out_3792847385831294211[29] = 0; - out_3792847385831294211[30] = 0; - out_3792847385831294211[31] = 0; - out_3792847385831294211[32] = 0; - out_3792847385831294211[33] = 0; - out_3792847385831294211[34] = 0; - out_3792847385831294211[35] = 0; - out_3792847385831294211[36] = 0; - out_3792847385831294211[37] = 0; - out_3792847385831294211[38] = 0; - out_3792847385831294211[39] = 0; - out_3792847385831294211[40] = 0; - out_3792847385831294211[41] = 0; - out_3792847385831294211[42] = 0; - out_3792847385831294211[43] = 0; - out_3792847385831294211[44] = 1; - out_3792847385831294211[45] = 0; - out_3792847385831294211[46] = 0; - out_3792847385831294211[47] = 1; - out_3792847385831294211[48] = 0; - out_3792847385831294211[49] = 0; - out_3792847385831294211[50] = 0; - out_3792847385831294211[51] = 0; - out_3792847385831294211[52] = 0; - out_3792847385831294211[53] = 0; +void H_4(double *state, double *unused, double *out_7117973314503879692) { + out_7117973314503879692[0] = 0; + out_7117973314503879692[1] = 0; + out_7117973314503879692[2] = 0; + out_7117973314503879692[3] = 0; + out_7117973314503879692[4] = 0; + out_7117973314503879692[5] = 0; + out_7117973314503879692[6] = 1; + out_7117973314503879692[7] = 0; + out_7117973314503879692[8] = 0; + out_7117973314503879692[9] = 1; + out_7117973314503879692[10] = 0; + out_7117973314503879692[11] = 0; + out_7117973314503879692[12] = 0; + out_7117973314503879692[13] = 0; + out_7117973314503879692[14] = 0; + out_7117973314503879692[15] = 0; + out_7117973314503879692[16] = 0; + out_7117973314503879692[17] = 0; + out_7117973314503879692[18] = 0; + out_7117973314503879692[19] = 0; + out_7117973314503879692[20] = 0; + out_7117973314503879692[21] = 0; + out_7117973314503879692[22] = 0; + out_7117973314503879692[23] = 0; + out_7117973314503879692[24] = 0; + out_7117973314503879692[25] = 1; + out_7117973314503879692[26] = 0; + out_7117973314503879692[27] = 0; + out_7117973314503879692[28] = 1; + out_7117973314503879692[29] = 0; + out_7117973314503879692[30] = 0; + out_7117973314503879692[31] = 0; + out_7117973314503879692[32] = 0; + out_7117973314503879692[33] = 0; + out_7117973314503879692[34] = 0; + out_7117973314503879692[35] = 0; + out_7117973314503879692[36] = 0; + out_7117973314503879692[37] = 0; + out_7117973314503879692[38] = 0; + out_7117973314503879692[39] = 0; + out_7117973314503879692[40] = 0; + out_7117973314503879692[41] = 0; + out_7117973314503879692[42] = 0; + out_7117973314503879692[43] = 0; + out_7117973314503879692[44] = 1; + out_7117973314503879692[45] = 0; + out_7117973314503879692[46] = 0; + out_7117973314503879692[47] = 1; + out_7117973314503879692[48] = 0; + out_7117973314503879692[49] = 0; + out_7117973314503879692[50] = 0; + out_7117973314503879692[51] = 0; + out_7117973314503879692[52] = 0; + out_7117973314503879692[53] = 0; } -void h_10(double *state, double *unused, double *out_6864246601547225854) { - out_6864246601547225854[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6864246601547225854[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6864246601547225854[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_8339904701560037775) { + out_8339904701560037775[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8339904701560037775[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8339904701560037775[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_5871577252215708993) { - out_5871577252215708993[0] = 0; - out_5871577252215708993[1] = 9.8100000000000005*cos(state[1]); - out_5871577252215708993[2] = 0; - out_5871577252215708993[3] = 0; - out_5871577252215708993[4] = -state[8]; - out_5871577252215708993[5] = state[7]; - out_5871577252215708993[6] = 0; - out_5871577252215708993[7] = state[5]; - out_5871577252215708993[8] = -state[4]; - out_5871577252215708993[9] = 0; - out_5871577252215708993[10] = 0; - out_5871577252215708993[11] = 0; - out_5871577252215708993[12] = 1; - out_5871577252215708993[13] = 0; - out_5871577252215708993[14] = 0; - out_5871577252215708993[15] = 1; - out_5871577252215708993[16] = 0; - out_5871577252215708993[17] = 0; - out_5871577252215708993[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5871577252215708993[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5871577252215708993[20] = 0; - out_5871577252215708993[21] = state[8]; - out_5871577252215708993[22] = 0; - out_5871577252215708993[23] = -state[6]; - out_5871577252215708993[24] = -state[5]; - out_5871577252215708993[25] = 0; - out_5871577252215708993[26] = state[3]; - out_5871577252215708993[27] = 0; - out_5871577252215708993[28] = 0; - out_5871577252215708993[29] = 0; - out_5871577252215708993[30] = 0; - out_5871577252215708993[31] = 1; - out_5871577252215708993[32] = 0; - out_5871577252215708993[33] = 0; - out_5871577252215708993[34] = 1; - out_5871577252215708993[35] = 0; - out_5871577252215708993[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5871577252215708993[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5871577252215708993[38] = 0; - out_5871577252215708993[39] = -state[7]; - out_5871577252215708993[40] = state[6]; - out_5871577252215708993[41] = 0; - out_5871577252215708993[42] = state[4]; - out_5871577252215708993[43] = -state[3]; - out_5871577252215708993[44] = 0; - out_5871577252215708993[45] = 0; - out_5871577252215708993[46] = 0; - out_5871577252215708993[47] = 0; - out_5871577252215708993[48] = 0; - out_5871577252215708993[49] = 0; - out_5871577252215708993[50] = 1; - out_5871577252215708993[51] = 0; - out_5871577252215708993[52] = 0; - out_5871577252215708993[53] = 1; +void H_10(double *state, double *unused, double *out_4285286583568518818) { + out_4285286583568518818[0] = 0; + out_4285286583568518818[1] = 9.8100000000000005*cos(state[1]); + out_4285286583568518818[2] = 0; + out_4285286583568518818[3] = 0; + out_4285286583568518818[4] = -state[8]; + out_4285286583568518818[5] = state[7]; + out_4285286583568518818[6] = 0; + out_4285286583568518818[7] = state[5]; + out_4285286583568518818[8] = -state[4]; + out_4285286583568518818[9] = 0; + out_4285286583568518818[10] = 0; + out_4285286583568518818[11] = 0; + out_4285286583568518818[12] = 1; + out_4285286583568518818[13] = 0; + out_4285286583568518818[14] = 0; + out_4285286583568518818[15] = 1; + out_4285286583568518818[16] = 0; + out_4285286583568518818[17] = 0; + out_4285286583568518818[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4285286583568518818[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4285286583568518818[20] = 0; + out_4285286583568518818[21] = state[8]; + out_4285286583568518818[22] = 0; + out_4285286583568518818[23] = -state[6]; + out_4285286583568518818[24] = -state[5]; + out_4285286583568518818[25] = 0; + out_4285286583568518818[26] = state[3]; + out_4285286583568518818[27] = 0; + out_4285286583568518818[28] = 0; + out_4285286583568518818[29] = 0; + out_4285286583568518818[30] = 0; + out_4285286583568518818[31] = 1; + out_4285286583568518818[32] = 0; + out_4285286583568518818[33] = 0; + out_4285286583568518818[34] = 1; + out_4285286583568518818[35] = 0; + out_4285286583568518818[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4285286583568518818[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4285286583568518818[38] = 0; + out_4285286583568518818[39] = -state[7]; + out_4285286583568518818[40] = state[6]; + out_4285286583568518818[41] = 0; + out_4285286583568518818[42] = state[4]; + out_4285286583568518818[43] = -state[3]; + out_4285286583568518818[44] = 0; + out_4285286583568518818[45] = 0; + out_4285286583568518818[46] = 0; + out_4285286583568518818[47] = 0; + out_4285286583568518818[48] = 0; + out_4285286583568518818[49] = 0; + out_4285286583568518818[50] = 1; + out_4285286583568518818[51] = 0; + out_4285286583568518818[52] = 0; + out_4285286583568518818[53] = 1; } -void h_13(double *state, double *unused, double *out_3325053226247216097) { - out_3325053226247216097[0] = state[3]; - out_3325053226247216097[1] = state[4]; - out_3325053226247216097[2] = state[5]; +void h_13(double *state, double *unused, double *out_4092510433385355744) { + out_4092510433385355744[0] = state[3]; + out_4092510433385355744[1] = state[4]; + out_4092510433385355744[2] = state[5]; } -void H_13(double *state, double *unused, double *out_580573560498961410) { - out_580573560498961410[0] = 0; - out_580573560498961410[1] = 0; - out_580573560498961410[2] = 0; - out_580573560498961410[3] = 1; - out_580573560498961410[4] = 0; - out_580573560498961410[5] = 0; - out_580573560498961410[6] = 0; - out_580573560498961410[7] = 0; - out_580573560498961410[8] = 0; - out_580573560498961410[9] = 0; - out_580573560498961410[10] = 0; - out_580573560498961410[11] = 0; - out_580573560498961410[12] = 0; - out_580573560498961410[13] = 0; - out_580573560498961410[14] = 0; - out_580573560498961410[15] = 0; - out_580573560498961410[16] = 0; - out_580573560498961410[17] = 0; - out_580573560498961410[18] = 0; - out_580573560498961410[19] = 0; - out_580573560498961410[20] = 0; - out_580573560498961410[21] = 0; - out_580573560498961410[22] = 1; - out_580573560498961410[23] = 0; - out_580573560498961410[24] = 0; - out_580573560498961410[25] = 0; - out_580573560498961410[26] = 0; - out_580573560498961410[27] = 0; - out_580573560498961410[28] = 0; - out_580573560498961410[29] = 0; - out_580573560498961410[30] = 0; - out_580573560498961410[31] = 0; - out_580573560498961410[32] = 0; - out_580573560498961410[33] = 0; - out_580573560498961410[34] = 0; - out_580573560498961410[35] = 0; - out_580573560498961410[36] = 0; - out_580573560498961410[37] = 0; - out_580573560498961410[38] = 0; - out_580573560498961410[39] = 0; - out_580573560498961410[40] = 0; - out_580573560498961410[41] = 1; - out_580573560498961410[42] = 0; - out_580573560498961410[43] = 0; - out_580573560498961410[44] = 0; - out_580573560498961410[45] = 0; - out_580573560498961410[46] = 0; - out_580573560498961410[47] = 0; - out_580573560498961410[48] = 0; - out_580573560498961410[49] = 0; - out_580573560498961410[50] = 0; - out_580573560498961410[51] = 0; - out_580573560498961410[52] = 0; - out_580573560498961410[53] = 0; +void H_13(double *state, double *unused, double *out_3905699489171546891) { + out_3905699489171546891[0] = 0; + out_3905699489171546891[1] = 0; + out_3905699489171546891[2] = 0; + out_3905699489171546891[3] = 1; + out_3905699489171546891[4] = 0; + out_3905699489171546891[5] = 0; + out_3905699489171546891[6] = 0; + out_3905699489171546891[7] = 0; + out_3905699489171546891[8] = 0; + out_3905699489171546891[9] = 0; + out_3905699489171546891[10] = 0; + out_3905699489171546891[11] = 0; + out_3905699489171546891[12] = 0; + out_3905699489171546891[13] = 0; + out_3905699489171546891[14] = 0; + out_3905699489171546891[15] = 0; + out_3905699489171546891[16] = 0; + out_3905699489171546891[17] = 0; + out_3905699489171546891[18] = 0; + out_3905699489171546891[19] = 0; + out_3905699489171546891[20] = 0; + out_3905699489171546891[21] = 0; + out_3905699489171546891[22] = 1; + out_3905699489171546891[23] = 0; + out_3905699489171546891[24] = 0; + out_3905699489171546891[25] = 0; + out_3905699489171546891[26] = 0; + out_3905699489171546891[27] = 0; + out_3905699489171546891[28] = 0; + out_3905699489171546891[29] = 0; + out_3905699489171546891[30] = 0; + out_3905699489171546891[31] = 0; + out_3905699489171546891[32] = 0; + out_3905699489171546891[33] = 0; + out_3905699489171546891[34] = 0; + out_3905699489171546891[35] = 0; + out_3905699489171546891[36] = 0; + out_3905699489171546891[37] = 0; + out_3905699489171546891[38] = 0; + out_3905699489171546891[39] = 0; + out_3905699489171546891[40] = 0; + out_3905699489171546891[41] = 1; + out_3905699489171546891[42] = 0; + out_3905699489171546891[43] = 0; + out_3905699489171546891[44] = 0; + out_3905699489171546891[45] = 0; + out_3905699489171546891[46] = 0; + out_3905699489171546891[47] = 0; + out_3905699489171546891[48] = 0; + out_3905699489171546891[49] = 0; + out_3905699489171546891[50] = 0; + out_3905699489171546891[51] = 0; + out_3905699489171546891[52] = 0; + out_3905699489171546891[53] = 0; } -void h_14(double *state, double *unused, double *out_7213076452181803827) { - out_7213076452181803827[0] = state[6]; - out_7213076452181803827[1] = state[7]; - out_7213076452181803827[2] = state[8]; +void h_14(double *state, double *unused, double *out_1965285751179212564) { + out_1965285751179212564[0] = state[6]; + out_1965285751179212564[1] = state[7]; + out_1965285751179212564[2] = state[8]; } -void H_14(double *state, double *unused, double *out_170393470508190318) { - out_170393470508190318[0] = 0; - out_170393470508190318[1] = 0; - out_170393470508190318[2] = 0; - out_170393470508190318[3] = 0; - out_170393470508190318[4] = 0; - out_170393470508190318[5] = 0; - out_170393470508190318[6] = 1; - out_170393470508190318[7] = 0; - out_170393470508190318[8] = 0; - out_170393470508190318[9] = 0; - out_170393470508190318[10] = 0; - out_170393470508190318[11] = 0; - out_170393470508190318[12] = 0; - out_170393470508190318[13] = 0; - out_170393470508190318[14] = 0; - out_170393470508190318[15] = 0; - out_170393470508190318[16] = 0; - out_170393470508190318[17] = 0; - out_170393470508190318[18] = 0; - out_170393470508190318[19] = 0; - out_170393470508190318[20] = 0; - out_170393470508190318[21] = 0; - out_170393470508190318[22] = 0; - out_170393470508190318[23] = 0; - out_170393470508190318[24] = 0; - out_170393470508190318[25] = 1; - out_170393470508190318[26] = 0; - out_170393470508190318[27] = 0; - out_170393470508190318[28] = 0; - out_170393470508190318[29] = 0; - out_170393470508190318[30] = 0; - out_170393470508190318[31] = 0; - out_170393470508190318[32] = 0; - out_170393470508190318[33] = 0; - out_170393470508190318[34] = 0; - out_170393470508190318[35] = 0; - out_170393470508190318[36] = 0; - out_170393470508190318[37] = 0; - out_170393470508190318[38] = 0; - out_170393470508190318[39] = 0; - out_170393470508190318[40] = 0; - out_170393470508190318[41] = 0; - out_170393470508190318[42] = 0; - out_170393470508190318[43] = 0; - out_170393470508190318[44] = 1; - out_170393470508190318[45] = 0; - out_170393470508190318[46] = 0; - out_170393470508190318[47] = 0; - out_170393470508190318[48] = 0; - out_170393470508190318[49] = 0; - out_170393470508190318[50] = 0; - out_170393470508190318[51] = 0; - out_170393470508190318[52] = 0; - out_170393470508190318[53] = 0; +void H_14(double *state, double *unused, double *out_8245982326910299628) { + out_8245982326910299628[0] = 0; + out_8245982326910299628[1] = 0; + out_8245982326910299628[2] = 0; + out_8245982326910299628[3] = 0; + out_8245982326910299628[4] = 0; + out_8245982326910299628[5] = 0; + out_8245982326910299628[6] = 1; + out_8245982326910299628[7] = 0; + out_8245982326910299628[8] = 0; + out_8245982326910299628[9] = 0; + out_8245982326910299628[10] = 0; + out_8245982326910299628[11] = 0; + out_8245982326910299628[12] = 0; + out_8245982326910299628[13] = 0; + out_8245982326910299628[14] = 0; + out_8245982326910299628[15] = 0; + out_8245982326910299628[16] = 0; + out_8245982326910299628[17] = 0; + out_8245982326910299628[18] = 0; + out_8245982326910299628[19] = 0; + out_8245982326910299628[20] = 0; + out_8245982326910299628[21] = 0; + out_8245982326910299628[22] = 0; + out_8245982326910299628[23] = 0; + out_8245982326910299628[24] = 0; + out_8245982326910299628[25] = 1; + out_8245982326910299628[26] = 0; + out_8245982326910299628[27] = 0; + out_8245982326910299628[28] = 0; + out_8245982326910299628[29] = 0; + out_8245982326910299628[30] = 0; + out_8245982326910299628[31] = 0; + out_8245982326910299628[32] = 0; + out_8245982326910299628[33] = 0; + out_8245982326910299628[34] = 0; + out_8245982326910299628[35] = 0; + out_8245982326910299628[36] = 0; + out_8245982326910299628[37] = 0; + out_8245982326910299628[38] = 0; + out_8245982326910299628[39] = 0; + out_8245982326910299628[40] = 0; + out_8245982326910299628[41] = 0; + out_8245982326910299628[42] = 0; + out_8245982326910299628[43] = 0; + out_8245982326910299628[44] = 1; + out_8245982326910299628[45] = 0; + out_8245982326910299628[46] = 0; + out_8245982326910299628[47] = 0; + out_8245982326910299628[48] = 0; + out_8245982326910299628[49] = 0; + out_8245982326910299628[50] = 0; + out_8245982326910299628[51] = 0; + out_8245982326910299628[52] = 0; + out_8245982326910299628[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_2803054085873220166) { - err_fun(nom_x, delta_x, out_2803054085873220166); +void pose_err_fun(double *nom_x, double *delta_x, double *out_327274557709511665) { + err_fun(nom_x, delta_x, out_327274557709511665); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { - inv_err_fun(nom_x, true_x, out_870718263858356541); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4344179942375735738) { + inv_err_fun(nom_x, true_x, out_4344179942375735738); } -void pose_H_mod_fun(double *state, double *out_245560868528396178) { - H_mod_fun(state, out_245560868528396178); +void pose_H_mod_fun(double *state, double *out_8315920796386777796) { + H_mod_fun(state, out_8315920796386777796); } -void pose_f_fun(double *state, double dt, double *out_8465405656783528291) { - f_fun(state, dt, out_8465405656783528291); +void pose_f_fun(double *state, double dt, double *out_1706853749310621885) { + f_fun(state, dt, out_1706853749310621885); } -void pose_F_fun(double *state, double dt, double *out_5153518595662752782) { - F_fun(state, dt, out_5153518595662752782); +void pose_F_fun(double *state, double dt, double *out_3565612569828347872) { + F_fun(state, dt, out_3565612569828347872); } -void pose_h_4(double *state, double *unused, double *out_3441983837194168135) { - h_4(state, unused, out_3441983837194168135); +void pose_h_4(double *state, double *unused, double *out_6256833977858620129) { + h_4(state, unused, out_6256833977858620129); } -void pose_H_4(double *state, double *unused, double *out_3792847385831294211) { - H_4(state, unused, out_3792847385831294211); +void pose_H_4(double *state, double *unused, double *out_7117973314503879692) { + H_4(state, unused, out_7117973314503879692); } -void pose_h_10(double *state, double *unused, double *out_6864246601547225854) { - h_10(state, unused, out_6864246601547225854); +void pose_h_10(double *state, double *unused, double *out_8339904701560037775) { + h_10(state, unused, out_8339904701560037775); } -void pose_H_10(double *state, double *unused, double *out_5871577252215708993) { - H_10(state, unused, out_5871577252215708993); +void pose_H_10(double *state, double *unused, double *out_4285286583568518818) { + H_10(state, unused, out_4285286583568518818); } -void pose_h_13(double *state, double *unused, double *out_3325053226247216097) { - h_13(state, unused, out_3325053226247216097); +void pose_h_13(double *state, double *unused, double *out_4092510433385355744) { + h_13(state, unused, out_4092510433385355744); } -void pose_H_13(double *state, double *unused, double *out_580573560498961410) { - H_13(state, unused, out_580573560498961410); +void pose_H_13(double *state, double *unused, double *out_3905699489171546891) { + H_13(state, unused, out_3905699489171546891); } -void pose_h_14(double *state, double *unused, double *out_7213076452181803827) { - h_14(state, unused, out_7213076452181803827); +void pose_h_14(double *state, double *unused, double *out_1965285751179212564) { + h_14(state, unused, out_1965285751179212564); } -void pose_H_14(double *state, double *unused, double *out_170393470508190318) { - H_14(state, unused, out_170393470508190318); +void pose_H_14(double *state, double *unused, double *out_8245982326910299628) { + H_14(state, unused, out_8245982326910299628); } 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 ea16f9c46..92227c0ab 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_2803054085873220166); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541); -void pose_H_mod_fun(double *state, double *out_245560868528396178); -void pose_f_fun(double *state, double dt, double *out_8465405656783528291); -void pose_F_fun(double *state, double dt, double *out_5153518595662752782); -void pose_h_4(double *state, double *unused, double *out_3441983837194168135); -void pose_H_4(double *state, double *unused, double *out_3792847385831294211); -void pose_h_10(double *state, double *unused, double *out_6864246601547225854); -void pose_H_10(double *state, double *unused, double *out_5871577252215708993); -void pose_h_13(double *state, double *unused, double *out_3325053226247216097); -void pose_H_13(double *state, double *unused, double *out_580573560498961410); -void pose_h_14(double *state, double *unused, double *out_7213076452181803827); -void pose_H_14(double *state, double *unused, double *out_170393470508190318); +void pose_err_fun(double *nom_x, double *delta_x, double *out_327274557709511665); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4344179942375735738); +void pose_H_mod_fun(double *state, double *out_8315920796386777796); +void pose_f_fun(double *state, double dt, double *out_1706853749310621885); +void pose_F_fun(double *state, double dt, double *out_3565612569828347872); +void pose_h_4(double *state, double *unused, double *out_6256833977858620129); +void pose_H_4(double *state, double *unused, double *out_7117973314503879692); +void pose_h_10(double *state, double *unused, double *out_8339904701560037775); +void pose_H_10(double *state, double *unused, double *out_4285286583568518818); +void pose_h_13(double *state, double *unused, double *out_4092510433385355744); +void pose_H_13(double *state, double *unused, double *out_3905699489171546891); +void pose_h_14(double *state, double *unused, double *out_1965285751179212564); +void pose_H_14(double *state, double *unused, double *out_8245982326910299628); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file 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