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b/panda/board/obj/version @@ -1 +1 @@ -DEV-d4cfd342-DEBUG \ No newline at end of file +DEV-e943d2af-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 894ebc8a9..31acc5e69 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_7550976477549507356) { - out_7550976477549507356[0] = delta_x[0] + nom_x[0]; - out_7550976477549507356[1] = delta_x[1] + nom_x[1]; - out_7550976477549507356[2] = delta_x[2] + nom_x[2]; - out_7550976477549507356[3] = delta_x[3] + nom_x[3]; - out_7550976477549507356[4] = delta_x[4] + nom_x[4]; - out_7550976477549507356[5] = delta_x[5] + nom_x[5]; - out_7550976477549507356[6] = delta_x[6] + nom_x[6]; - out_7550976477549507356[7] = delta_x[7] + nom_x[7]; - out_7550976477549507356[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5469727734415202139) { + out_5469727734415202139[0] = delta_x[0] + nom_x[0]; + out_5469727734415202139[1] = delta_x[1] + nom_x[1]; + out_5469727734415202139[2] = delta_x[2] + nom_x[2]; + out_5469727734415202139[3] = delta_x[3] + nom_x[3]; + out_5469727734415202139[4] = delta_x[4] + nom_x[4]; + out_5469727734415202139[5] = delta_x[5] + nom_x[5]; + out_5469727734415202139[6] = delta_x[6] + nom_x[6]; + out_5469727734415202139[7] = delta_x[7] + nom_x[7]; + out_5469727734415202139[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3781853638498010) { - out_3781853638498010[0] = -nom_x[0] + true_x[0]; - out_3781853638498010[1] = -nom_x[1] + true_x[1]; - out_3781853638498010[2] = -nom_x[2] + true_x[2]; - out_3781853638498010[3] = -nom_x[3] + true_x[3]; - out_3781853638498010[4] = -nom_x[4] + true_x[4]; - out_3781853638498010[5] = -nom_x[5] + true_x[5]; - out_3781853638498010[6] = -nom_x[6] + true_x[6]; - out_3781853638498010[7] = -nom_x[7] + true_x[7]; - out_3781853638498010[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510) { + out_9043415007849521510[0] = -nom_x[0] + true_x[0]; + out_9043415007849521510[1] = -nom_x[1] + true_x[1]; + out_9043415007849521510[2] = -nom_x[2] + true_x[2]; + out_9043415007849521510[3] = -nom_x[3] + true_x[3]; + out_9043415007849521510[4] = -nom_x[4] + true_x[4]; + out_9043415007849521510[5] = -nom_x[5] + true_x[5]; + out_9043415007849521510[6] = -nom_x[6] + true_x[6]; + out_9043415007849521510[7] = -nom_x[7] + true_x[7]; + out_9043415007849521510[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6037661802737362721) { - out_6037661802737362721[0] = 1.0; - out_6037661802737362721[1] = 0.0; - out_6037661802737362721[2] = 0.0; - out_6037661802737362721[3] = 0.0; - out_6037661802737362721[4] = 0.0; - out_6037661802737362721[5] = 0.0; - out_6037661802737362721[6] = 0.0; - out_6037661802737362721[7] = 0.0; - out_6037661802737362721[8] = 0.0; - out_6037661802737362721[9] = 0.0; - out_6037661802737362721[10] = 1.0; - out_6037661802737362721[11] = 0.0; - out_6037661802737362721[12] = 0.0; - out_6037661802737362721[13] = 0.0; - out_6037661802737362721[14] = 0.0; - out_6037661802737362721[15] = 0.0; - out_6037661802737362721[16] = 0.0; - out_6037661802737362721[17] = 0.0; - out_6037661802737362721[18] = 0.0; - out_6037661802737362721[19] = 0.0; - out_6037661802737362721[20] = 1.0; - out_6037661802737362721[21] = 0.0; - out_6037661802737362721[22] = 0.0; - out_6037661802737362721[23] = 0.0; - out_6037661802737362721[24] = 0.0; - out_6037661802737362721[25] = 0.0; - out_6037661802737362721[26] = 0.0; - out_6037661802737362721[27] = 0.0; - out_6037661802737362721[28] = 0.0; - out_6037661802737362721[29] = 0.0; - out_6037661802737362721[30] = 1.0; - out_6037661802737362721[31] = 0.0; - out_6037661802737362721[32] = 0.0; - out_6037661802737362721[33] = 0.0; - out_6037661802737362721[34] = 0.0; - out_6037661802737362721[35] = 0.0; - out_6037661802737362721[36] = 0.0; - out_6037661802737362721[37] = 0.0; - out_6037661802737362721[38] = 0.0; - out_6037661802737362721[39] = 0.0; - out_6037661802737362721[40] = 1.0; - out_6037661802737362721[41] = 0.0; - out_6037661802737362721[42] = 0.0; - out_6037661802737362721[43] = 0.0; - out_6037661802737362721[44] = 0.0; - out_6037661802737362721[45] = 0.0; - out_6037661802737362721[46] = 0.0; - out_6037661802737362721[47] = 0.0; - out_6037661802737362721[48] = 0.0; - out_6037661802737362721[49] = 0.0; - out_6037661802737362721[50] = 1.0; - out_6037661802737362721[51] = 0.0; - out_6037661802737362721[52] = 0.0; - out_6037661802737362721[53] = 0.0; - out_6037661802737362721[54] = 0.0; - out_6037661802737362721[55] = 0.0; - out_6037661802737362721[56] = 0.0; - out_6037661802737362721[57] = 0.0; - out_6037661802737362721[58] = 0.0; - out_6037661802737362721[59] = 0.0; - out_6037661802737362721[60] = 1.0; - out_6037661802737362721[61] = 0.0; - out_6037661802737362721[62] = 0.0; - out_6037661802737362721[63] = 0.0; - out_6037661802737362721[64] = 0.0; - out_6037661802737362721[65] = 0.0; - out_6037661802737362721[66] = 0.0; - out_6037661802737362721[67] = 0.0; - out_6037661802737362721[68] = 0.0; - out_6037661802737362721[69] = 0.0; - out_6037661802737362721[70] = 1.0; - out_6037661802737362721[71] = 0.0; - out_6037661802737362721[72] = 0.0; - out_6037661802737362721[73] = 0.0; - out_6037661802737362721[74] = 0.0; - out_6037661802737362721[75] = 0.0; - out_6037661802737362721[76] = 0.0; - out_6037661802737362721[77] = 0.0; - out_6037661802737362721[78] = 0.0; - out_6037661802737362721[79] = 0.0; - out_6037661802737362721[80] = 1.0; +void H_mod_fun(double *state, double *out_3975286947566256014) { + out_3975286947566256014[0] = 1.0; + out_3975286947566256014[1] = 0.0; + out_3975286947566256014[2] = 0.0; + out_3975286947566256014[3] = 0.0; + out_3975286947566256014[4] = 0.0; + out_3975286947566256014[5] = 0.0; + out_3975286947566256014[6] = 0.0; + out_3975286947566256014[7] = 0.0; + out_3975286947566256014[8] = 0.0; + out_3975286947566256014[9] = 0.0; + out_3975286947566256014[10] = 1.0; + out_3975286947566256014[11] = 0.0; + out_3975286947566256014[12] = 0.0; + out_3975286947566256014[13] = 0.0; + out_3975286947566256014[14] = 0.0; + out_3975286947566256014[15] = 0.0; + out_3975286947566256014[16] = 0.0; + out_3975286947566256014[17] = 0.0; + out_3975286947566256014[18] = 0.0; + out_3975286947566256014[19] = 0.0; + out_3975286947566256014[20] = 1.0; + out_3975286947566256014[21] = 0.0; + out_3975286947566256014[22] = 0.0; + out_3975286947566256014[23] = 0.0; + out_3975286947566256014[24] = 0.0; + out_3975286947566256014[25] = 0.0; + out_3975286947566256014[26] = 0.0; + out_3975286947566256014[27] = 0.0; + out_3975286947566256014[28] = 0.0; + out_3975286947566256014[29] = 0.0; + out_3975286947566256014[30] = 1.0; + out_3975286947566256014[31] = 0.0; + out_3975286947566256014[32] = 0.0; + out_3975286947566256014[33] = 0.0; + out_3975286947566256014[34] = 0.0; + out_3975286947566256014[35] = 0.0; + out_3975286947566256014[36] = 0.0; + out_3975286947566256014[37] = 0.0; + out_3975286947566256014[38] = 0.0; + out_3975286947566256014[39] = 0.0; + out_3975286947566256014[40] = 1.0; + out_3975286947566256014[41] = 0.0; + out_3975286947566256014[42] = 0.0; + out_3975286947566256014[43] = 0.0; + out_3975286947566256014[44] = 0.0; + out_3975286947566256014[45] = 0.0; + out_3975286947566256014[46] = 0.0; + out_3975286947566256014[47] = 0.0; + out_3975286947566256014[48] = 0.0; + out_3975286947566256014[49] = 0.0; + out_3975286947566256014[50] = 1.0; + out_3975286947566256014[51] = 0.0; + out_3975286947566256014[52] = 0.0; + out_3975286947566256014[53] = 0.0; + out_3975286947566256014[54] = 0.0; + out_3975286947566256014[55] = 0.0; + out_3975286947566256014[56] = 0.0; + out_3975286947566256014[57] = 0.0; + out_3975286947566256014[58] = 0.0; + out_3975286947566256014[59] = 0.0; + out_3975286947566256014[60] = 1.0; + out_3975286947566256014[61] = 0.0; + out_3975286947566256014[62] = 0.0; + out_3975286947566256014[63] = 0.0; + out_3975286947566256014[64] = 0.0; + out_3975286947566256014[65] = 0.0; + out_3975286947566256014[66] = 0.0; + out_3975286947566256014[67] = 0.0; + out_3975286947566256014[68] = 0.0; + out_3975286947566256014[69] = 0.0; + out_3975286947566256014[70] = 1.0; + out_3975286947566256014[71] = 0.0; + out_3975286947566256014[72] = 0.0; + out_3975286947566256014[73] = 0.0; + out_3975286947566256014[74] = 0.0; + out_3975286947566256014[75] = 0.0; + out_3975286947566256014[76] = 0.0; + out_3975286947566256014[77] = 0.0; + out_3975286947566256014[78] = 0.0; + out_3975286947566256014[79] = 0.0; + out_3975286947566256014[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8701591355184024691) { - out_8701591355184024691[0] = state[0]; - out_8701591355184024691[1] = state[1]; - out_8701591355184024691[2] = state[2]; - out_8701591355184024691[3] = state[3]; - out_8701591355184024691[4] = state[4]; - out_8701591355184024691[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_8701591355184024691[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_8701591355184024691[7] = state[7]; - out_8701591355184024691[8] = state[8]; +void f_fun(double *state, double dt, double *out_1399233721380390552) { + out_1399233721380390552[0] = state[0]; + out_1399233721380390552[1] = state[1]; + out_1399233721380390552[2] = state[2]; + out_1399233721380390552[3] = state[3]; + out_1399233721380390552[4] = state[4]; + out_1399233721380390552[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_1399233721380390552[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_1399233721380390552[7] = state[7]; + out_1399233721380390552[8] = state[8]; } -void F_fun(double *state, double dt, double *out_4180724957458131151) { - out_4180724957458131151[0] = 1; - out_4180724957458131151[1] = 0; - out_4180724957458131151[2] = 0; - out_4180724957458131151[3] = 0; - out_4180724957458131151[4] = 0; - out_4180724957458131151[5] = 0; - out_4180724957458131151[6] = 0; - out_4180724957458131151[7] = 0; - out_4180724957458131151[8] = 0; - out_4180724957458131151[9] = 0; - out_4180724957458131151[10] = 1; - out_4180724957458131151[11] = 0; - out_4180724957458131151[12] = 0; - out_4180724957458131151[13] = 0; - out_4180724957458131151[14] = 0; - out_4180724957458131151[15] = 0; - out_4180724957458131151[16] = 0; - out_4180724957458131151[17] = 0; - out_4180724957458131151[18] = 0; - out_4180724957458131151[19] = 0; - out_4180724957458131151[20] = 1; - out_4180724957458131151[21] = 0; - out_4180724957458131151[22] = 0; - out_4180724957458131151[23] = 0; - out_4180724957458131151[24] = 0; - out_4180724957458131151[25] = 0; - out_4180724957458131151[26] = 0; - out_4180724957458131151[27] = 0; - out_4180724957458131151[28] = 0; - out_4180724957458131151[29] = 0; - out_4180724957458131151[30] = 1; - out_4180724957458131151[31] = 0; - out_4180724957458131151[32] = 0; - out_4180724957458131151[33] = 0; - out_4180724957458131151[34] = 0; - out_4180724957458131151[35] = 0; - out_4180724957458131151[36] = 0; - out_4180724957458131151[37] = 0; - out_4180724957458131151[38] = 0; - out_4180724957458131151[39] = 0; - out_4180724957458131151[40] = 1; - out_4180724957458131151[41] = 0; - out_4180724957458131151[42] = 0; - out_4180724957458131151[43] = 0; - out_4180724957458131151[44] = 0; - out_4180724957458131151[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_4180724957458131151[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_4180724957458131151[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4180724957458131151[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_4180724957458131151[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_4180724957458131151[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_4180724957458131151[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_4180724957458131151[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_4180724957458131151[53] = -9.8100000000000005*dt; - out_4180724957458131151[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_4180724957458131151[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_4180724957458131151[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4180724957458131151[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4180724957458131151[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_4180724957458131151[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_4180724957458131151[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_4180724957458131151[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_4180724957458131151[62] = 0; - out_4180724957458131151[63] = 0; - out_4180724957458131151[64] = 0; - out_4180724957458131151[65] = 0; - out_4180724957458131151[66] = 0; - out_4180724957458131151[67] = 0; - out_4180724957458131151[68] = 0; - out_4180724957458131151[69] = 0; - out_4180724957458131151[70] = 1; - out_4180724957458131151[71] = 0; - out_4180724957458131151[72] = 0; - out_4180724957458131151[73] = 0; - out_4180724957458131151[74] = 0; - out_4180724957458131151[75] = 0; - out_4180724957458131151[76] = 0; - out_4180724957458131151[77] = 0; - out_4180724957458131151[78] = 0; - out_4180724957458131151[79] = 0; - out_4180724957458131151[80] = 1; +void F_fun(double *state, double dt, double *out_1547855628850571031) { + out_1547855628850571031[0] = 1; + out_1547855628850571031[1] = 0; + out_1547855628850571031[2] = 0; + out_1547855628850571031[3] = 0; + out_1547855628850571031[4] = 0; + out_1547855628850571031[5] = 0; + out_1547855628850571031[6] = 0; + out_1547855628850571031[7] = 0; + out_1547855628850571031[8] = 0; + out_1547855628850571031[9] = 0; + out_1547855628850571031[10] = 1; + out_1547855628850571031[11] = 0; + out_1547855628850571031[12] = 0; + out_1547855628850571031[13] = 0; + out_1547855628850571031[14] = 0; + out_1547855628850571031[15] = 0; + out_1547855628850571031[16] = 0; + out_1547855628850571031[17] = 0; + out_1547855628850571031[18] = 0; + out_1547855628850571031[19] = 0; + out_1547855628850571031[20] = 1; + out_1547855628850571031[21] = 0; + out_1547855628850571031[22] = 0; + out_1547855628850571031[23] = 0; + out_1547855628850571031[24] = 0; + out_1547855628850571031[25] = 0; + out_1547855628850571031[26] = 0; + out_1547855628850571031[27] = 0; + out_1547855628850571031[28] = 0; + out_1547855628850571031[29] = 0; + out_1547855628850571031[30] = 1; + out_1547855628850571031[31] = 0; + out_1547855628850571031[32] = 0; + out_1547855628850571031[33] = 0; + out_1547855628850571031[34] = 0; + out_1547855628850571031[35] = 0; + out_1547855628850571031[36] = 0; + out_1547855628850571031[37] = 0; + out_1547855628850571031[38] = 0; + out_1547855628850571031[39] = 0; + out_1547855628850571031[40] = 1; + out_1547855628850571031[41] = 0; + out_1547855628850571031[42] = 0; + out_1547855628850571031[43] = 0; + out_1547855628850571031[44] = 0; + out_1547855628850571031[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_1547855628850571031[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_1547855628850571031[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1547855628850571031[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_1547855628850571031[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_1547855628850571031[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_1547855628850571031[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_1547855628850571031[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_1547855628850571031[53] = -9.8100000000000005*dt; + out_1547855628850571031[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_1547855628850571031[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_1547855628850571031[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1547855628850571031[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1547855628850571031[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_1547855628850571031[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_1547855628850571031[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_1547855628850571031[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_1547855628850571031[62] = 0; + out_1547855628850571031[63] = 0; + out_1547855628850571031[64] = 0; + out_1547855628850571031[65] = 0; + out_1547855628850571031[66] = 0; + out_1547855628850571031[67] = 0; + out_1547855628850571031[68] = 0; + out_1547855628850571031[69] = 0; + out_1547855628850571031[70] = 1; + out_1547855628850571031[71] = 0; + out_1547855628850571031[72] = 0; + out_1547855628850571031[73] = 0; + out_1547855628850571031[74] = 0; + out_1547855628850571031[75] = 0; + out_1547855628850571031[76] = 0; + out_1547855628850571031[77] = 0; + out_1547855628850571031[78] = 0; + out_1547855628850571031[79] = 0; + out_1547855628850571031[80] = 1; } -void h_25(double *state, double *unused, double *out_76571637109634956) { - out_76571637109634956[0] = state[6]; +void h_25(double *state, double *unused, double *out_4999223901660539793) { + out_4999223901660539793[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7505390445787524055) { - out_7505390445787524055[0] = 0; - out_7505390445787524055[1] = 0; - out_7505390445787524055[2] = 0; - out_7505390445787524055[3] = 0; - out_7505390445787524055[4] = 0; - out_7505390445787524055[5] = 0; - out_7505390445787524055[6] = 1; - out_7505390445787524055[7] = 0; - out_7505390445787524055[8] = 0; +void H_25(double *state, double *unused, double *out_5217901278345981223) { + out_5217901278345981223[0] = 0; + out_5217901278345981223[1] = 0; + out_5217901278345981223[2] = 0; + out_5217901278345981223[3] = 0; + out_5217901278345981223[4] = 0; + out_5217901278345981223[5] = 0; + out_5217901278345981223[6] = 1; + out_5217901278345981223[7] = 0; + out_5217901278345981223[8] = 0; } -void h_24(double *state, double *unused, double *out_6249911379334495626) { - out_6249911379334495626[0] = state[4]; - out_6249911379334495626[1] = state[5]; +void h_24(double *state, double *unused, double *out_6882293632162622150) { + out_6882293632162622150[0] = state[4]; + out_6882293632162622150[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2231896162874511461) { - out_2231896162874511461[0] = 0; - out_2231896162874511461[1] = 0; - out_2231896162874511461[2] = 0; - out_2231896162874511461[3] = 0; - out_2231896162874511461[4] = 1; - out_2231896162874511461[5] = 0; - out_2231896162874511461[6] = 0; - out_2231896162874511461[7] = 0; - out_2231896162874511461[8] = 0; - out_2231896162874511461[9] = 0; - out_2231896162874511461[10] = 0; - out_2231896162874511461[11] = 0; - out_2231896162874511461[12] = 0; - out_2231896162874511461[13] = 0; - out_2231896162874511461[14] = 1; - out_2231896162874511461[15] = 0; - out_2231896162874511461[16] = 0; - out_2231896162874511461[17] = 0; +void H_24(double *state, double *unused, double *out_1436304179762204534) { + out_1436304179762204534[0] = 0; + out_1436304179762204534[1] = 0; + out_1436304179762204534[2] = 0; + out_1436304179762204534[3] = 0; + out_1436304179762204534[4] = 1; + out_1436304179762204534[5] = 0; + out_1436304179762204534[6] = 0; + out_1436304179762204534[7] = 0; + out_1436304179762204534[8] = 0; + out_1436304179762204534[9] = 0; + out_1436304179762204534[10] = 0; + out_1436304179762204534[11] = 0; + out_1436304179762204534[12] = 0; + out_1436304179762204534[13] = 0; + out_1436304179762204534[14] = 1; + out_1436304179762204534[15] = 0; + out_1436304179762204534[16] = 0; + out_1436304179762204534[17] = 0; } -void h_30(double *state, double *unused, double *out_198622425174870933) { - out_198622425174870933[0] = state[4]; +void h_30(double *state, double *unused, double *out_4724029839376033904) { + out_4724029839376033904[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6413657297794419363) { - out_6413657297794419363[0] = 0; - out_6413657297794419363[1] = 0; - out_6413657297794419363[2] = 0; - out_6413657297794419363[3] = 0; - out_6413657297794419363[4] = 1; - out_6413657297794419363[5] = 0; - out_6413657297794419363[6] = 0; - out_6413657297794419363[7] = 0; - out_6413657297794419363[8] = 0; +void H_30(double *state, double *unused, double *out_8701146465235962195) { + out_8701146465235962195[0] = 0; + out_8701146465235962195[1] = 0; + out_8701146465235962195[2] = 0; + out_8701146465235962195[3] = 0; + out_8701146465235962195[4] = 1; + out_8701146465235962195[5] = 0; + out_8701146465235962195[6] = 0; + out_8701146465235962195[7] = 0; + out_8701146465235962195[8] = 0; } -void h_26(double *state, double *unused, double *out_5679663062383844155) { - out_5679663062383844155[0] = state[7]; +void h_26(double *state, double *unused, double *out_3556286038299892167) { + out_3556286038299892167[0] = state[7]; } -void H_26(double *state, double *unused, double *out_7199850309047971337) { - out_7199850309047971337[0] = 0; - out_7199850309047971337[1] = 0; - out_7199850309047971337[2] = 0; - out_7199850309047971337[3] = 0; - out_7199850309047971337[4] = 0; - out_7199850309047971337[5] = 0; - out_7199850309047971337[6] = 0; - out_7199850309047971337[7] = 1; - out_7199850309047971337[8] = 0; +void H_26(double *state, double *unused, double *out_8959404597220037447) { + out_8959404597220037447[0] = 0; + out_8959404597220037447[1] = 0; + out_8959404597220037447[2] = 0; + out_8959404597220037447[3] = 0; + out_8959404597220037447[4] = 0; + out_8959404597220037447[5] = 0; + out_8959404597220037447[6] = 0; + out_8959404597220037447[7] = 1; + out_8959404597220037447[8] = 0; } -void h_27(double *state, double *unused, double *out_4925101630551210689) { - out_4925101630551210689[0] = state[3]; +void h_27(double *state, double *unused, double *out_356357552238636072) { + out_356357552238636072[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8637251368978362580) { - out_8637251368978362580[0] = 0; - out_8637251368978362580[1] = 0; - out_8637251368978362580[2] = 0; - out_8637251368978362580[3] = 1; - out_8637251368978362580[4] = 0; - out_8637251368978362580[5] = 0; - out_8637251368978362580[6] = 0; - out_8637251368978362580[7] = 0; - out_8637251368978362580[8] = 0; +void H_27(double *state, double *unused, double *out_7522003537289646204) { + out_7522003537289646204[0] = 0; + out_7522003537289646204[1] = 0; + out_7522003537289646204[2] = 0; + out_7522003537289646204[3] = 1; + out_7522003537289646204[4] = 0; + out_7522003537289646204[5] = 0; + out_7522003537289646204[6] = 0; + out_7522003537289646204[7] = 0; + out_7522003537289646204[8] = 0; } -void h_29(double *state, double *unused, double *out_5200295692835716578) { - out_5200295692835716578[0] = state[1]; +void h_29(double *state, double *unused, double *out_277643428284811741) { + out_277643428284811741[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6923888642108811547) { - out_6923888642108811547[0] = 0; - out_6923888642108811547[1] = 1; - out_6923888642108811547[2] = 0; - out_6923888642108811547[3] = 0; - out_6923888642108811547[4] = 0; - out_6923888642108811547[5] = 0; - out_6923888642108811547[6] = 0; - out_6923888642108811547[7] = 0; - out_6923888642108811547[8] = 0; +void H_29(double *state, double *unused, double *out_9211377809550354379) { + out_9211377809550354379[0] = 0; + out_9211377809550354379[1] = 1; + out_9211377809550354379[2] = 0; + out_9211377809550354379[3] = 0; + out_9211377809550354379[4] = 0; + out_9211377809550354379[5] = 0; + out_9211377809550354379[6] = 0; + out_9211377809550354379[7] = 0; + out_9211377809550354379[8] = 0; } -void h_28(double *state, double *unused, double *out_8899456413702232613) { - out_8899456413702232613[0] = state[0]; +void h_28(double *state, double *unused, double *out_5358030819899481717) { + out_5358030819899481717[0] = state[0]; } -void H_28(double *state, double *unused, double *out_8887518913674137798) { - out_8887518913674137798[0] = 1; - out_8887518913674137798[1] = 0; - out_8887518913674137798[2] = 0; - out_8887518913674137798[3] = 0; - out_8887518913674137798[4] = 0; - out_8887518913674137798[5] = 0; - out_8887518913674137798[6] = 0; - out_8887518913674137798[7] = 0; - out_8887518913674137798[8] = 0; +void H_28(double *state, double *unused, double *out_4128978792480823805) { + out_4128978792480823805[0] = 1; + out_4128978792480823805[1] = 0; + out_4128978792480823805[2] = 0; + out_4128978792480823805[3] = 0; + out_4128978792480823805[4] = 0; + out_4128978792480823805[5] = 0; + out_4128978792480823805[6] = 0; + out_4128978792480823805[7] = 0; + out_4128978792480823805[8] = 0; } -void h_31(double *state, double *unused, double *out_3714021165363657306) { - out_3714021165363657306[0] = state[8]; +void h_31(double *state, double *unused, double *out_2893715593223983566) { + out_2893715593223983566[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7474744483910563627) { - out_7474744483910563627[0] = 0; - out_7474744483910563627[1] = 0; - out_7474744483910563627[2] = 0; - out_7474744483910563627[3] = 0; - out_7474744483910563627[4] = 0; - out_7474744483910563627[5] = 0; - out_7474744483910563627[6] = 0; - out_7474744483910563627[7] = 0; - out_7474744483910563627[8] = 1; +void H_31(double *state, double *unused, double *out_8861131374256162693) { + out_8861131374256162693[0] = 0; + out_8861131374256162693[1] = 0; + out_8861131374256162693[2] = 0; + out_8861131374256162693[3] = 0; + out_8861131374256162693[4] = 0; + out_8861131374256162693[5] = 0; + out_8861131374256162693[6] = 0; + out_8861131374256162693[7] = 0; + out_8861131374256162693[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_7550976477549507356) { - err_fun(nom_x, delta_x, out_7550976477549507356); +void car_err_fun(double *nom_x, double *delta_x, double *out_5469727734415202139) { + err_fun(nom_x, delta_x, out_5469727734415202139); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3781853638498010) { - inv_err_fun(nom_x, true_x, out_3781853638498010); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510) { + inv_err_fun(nom_x, true_x, out_9043415007849521510); } -void car_H_mod_fun(double *state, double *out_6037661802737362721) { - H_mod_fun(state, out_6037661802737362721); +void car_H_mod_fun(double *state, double *out_3975286947566256014) { + H_mod_fun(state, out_3975286947566256014); } -void car_f_fun(double *state, double dt, double *out_8701591355184024691) { - f_fun(state, dt, out_8701591355184024691); +void car_f_fun(double *state, double dt, double *out_1399233721380390552) { + f_fun(state, dt, out_1399233721380390552); } -void car_F_fun(double *state, double dt, double *out_4180724957458131151) { - F_fun(state, dt, out_4180724957458131151); +void car_F_fun(double *state, double dt, double *out_1547855628850571031) { + F_fun(state, dt, out_1547855628850571031); } -void car_h_25(double *state, double *unused, double *out_76571637109634956) { - h_25(state, unused, out_76571637109634956); +void car_h_25(double *state, double *unused, double *out_4999223901660539793) { + h_25(state, unused, out_4999223901660539793); } -void car_H_25(double *state, double *unused, double *out_7505390445787524055) { - H_25(state, unused, out_7505390445787524055); +void car_H_25(double *state, double *unused, double *out_5217901278345981223) { + H_25(state, unused, out_5217901278345981223); } -void car_h_24(double *state, double *unused, double *out_6249911379334495626) { - h_24(state, unused, out_6249911379334495626); +void car_h_24(double *state, double *unused, double *out_6882293632162622150) { + h_24(state, unused, out_6882293632162622150); } -void car_H_24(double *state, double *unused, double *out_2231896162874511461) { - H_24(state, unused, out_2231896162874511461); +void car_H_24(double *state, double *unused, double *out_1436304179762204534) { + H_24(state, unused, out_1436304179762204534); } -void car_h_30(double *state, double *unused, double *out_198622425174870933) { - h_30(state, unused, out_198622425174870933); +void car_h_30(double *state, double *unused, double *out_4724029839376033904) { + h_30(state, unused, out_4724029839376033904); } -void car_H_30(double *state, double *unused, double *out_6413657297794419363) { - H_30(state, unused, out_6413657297794419363); +void car_H_30(double *state, double *unused, double *out_8701146465235962195) { + H_30(state, unused, out_8701146465235962195); } -void car_h_26(double *state, double *unused, double *out_5679663062383844155) { - h_26(state, unused, out_5679663062383844155); +void car_h_26(double *state, double *unused, double *out_3556286038299892167) { + h_26(state, unused, out_3556286038299892167); } -void car_H_26(double *state, double *unused, double *out_7199850309047971337) { - H_26(state, unused, out_7199850309047971337); +void car_H_26(double *state, double *unused, double *out_8959404597220037447) { + H_26(state, unused, out_8959404597220037447); } -void car_h_27(double *state, double *unused, double *out_4925101630551210689) { - h_27(state, unused, out_4925101630551210689); +void car_h_27(double *state, double *unused, double *out_356357552238636072) { + h_27(state, unused, out_356357552238636072); } -void car_H_27(double *state, double *unused, double *out_8637251368978362580) { - H_27(state, unused, out_8637251368978362580); +void car_H_27(double *state, double *unused, double *out_7522003537289646204) { + H_27(state, unused, out_7522003537289646204); } -void car_h_29(double *state, double *unused, double *out_5200295692835716578) { - h_29(state, unused, out_5200295692835716578); +void car_h_29(double *state, double *unused, double *out_277643428284811741) { + h_29(state, unused, out_277643428284811741); } -void car_H_29(double *state, double *unused, double *out_6923888642108811547) { - H_29(state, unused, out_6923888642108811547); +void car_H_29(double *state, double *unused, double *out_9211377809550354379) { + H_29(state, unused, out_9211377809550354379); } -void car_h_28(double *state, double *unused, double *out_8899456413702232613) { - h_28(state, unused, out_8899456413702232613); +void car_h_28(double *state, double *unused, double *out_5358030819899481717) { + h_28(state, unused, out_5358030819899481717); } -void car_H_28(double *state, double *unused, double *out_8887518913674137798) { - H_28(state, unused, out_8887518913674137798); +void car_H_28(double *state, double *unused, double *out_4128978792480823805) { + H_28(state, unused, out_4128978792480823805); } -void car_h_31(double *state, double *unused, double *out_3714021165363657306) { - h_31(state, unused, out_3714021165363657306); +void car_h_31(double *state, double *unused, double *out_2893715593223983566) { + h_31(state, unused, out_2893715593223983566); } -void car_H_31(double *state, double *unused, double *out_7474744483910563627) { - H_31(state, unused, out_7474744483910563627); +void car_H_31(double *state, double *unused, double *out_8861131374256162693) { + H_31(state, unused, out_8861131374256162693); } 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 cee536c17..2cb3eeeac 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_7550976477549507356); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3781853638498010); -void car_H_mod_fun(double *state, double *out_6037661802737362721); -void car_f_fun(double *state, double dt, double *out_8701591355184024691); -void car_F_fun(double *state, double dt, double *out_4180724957458131151); -void car_h_25(double *state, double *unused, double *out_76571637109634956); -void car_H_25(double *state, double *unused, double *out_7505390445787524055); -void car_h_24(double *state, double *unused, double *out_6249911379334495626); -void car_H_24(double *state, double *unused, double *out_2231896162874511461); -void car_h_30(double *state, double *unused, double *out_198622425174870933); -void car_H_30(double *state, double *unused, double *out_6413657297794419363); -void car_h_26(double *state, double *unused, double *out_5679663062383844155); -void car_H_26(double *state, double *unused, double *out_7199850309047971337); -void car_h_27(double *state, double *unused, double *out_4925101630551210689); -void car_H_27(double *state, double *unused, double *out_8637251368978362580); -void car_h_29(double *state, double *unused, double *out_5200295692835716578); -void car_H_29(double *state, double *unused, double *out_6923888642108811547); -void car_h_28(double *state, double *unused, double *out_8899456413702232613); -void car_H_28(double *state, double *unused, double *out_8887518913674137798); -void car_h_31(double *state, double *unused, double *out_3714021165363657306); -void car_H_31(double *state, double *unused, double *out_7474744483910563627); +void car_err_fun(double *nom_x, double *delta_x, double *out_5469727734415202139); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510); +void car_H_mod_fun(double *state, double *out_3975286947566256014); +void car_f_fun(double *state, double dt, double *out_1399233721380390552); +void car_F_fun(double *state, double dt, double *out_1547855628850571031); +void car_h_25(double *state, double *unused, double *out_4999223901660539793); +void car_H_25(double *state, double *unused, double *out_5217901278345981223); +void car_h_24(double *state, double *unused, double *out_6882293632162622150); +void car_H_24(double *state, double *unused, double *out_1436304179762204534); +void car_h_30(double *state, double *unused, double *out_4724029839376033904); +void car_H_30(double *state, double *unused, double *out_8701146465235962195); +void car_h_26(double *state, double *unused, double *out_3556286038299892167); +void car_H_26(double *state, double *unused, double *out_8959404597220037447); +void car_h_27(double *state, double *unused, double *out_356357552238636072); +void car_H_27(double *state, double *unused, double *out_7522003537289646204); +void car_h_29(double *state, double *unused, double *out_277643428284811741); +void car_H_29(double *state, double *unused, double *out_9211377809550354379); +void car_h_28(double *state, double *unused, double *out_5358030819899481717); +void car_H_28(double *state, double *unused, double *out_4128978792480823805); +void car_h_31(double *state, double *unused, double *out_2893715593223983566); +void car_H_31(double *state, double *unused, double *out_8861131374256162693); 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 f7cd80b26..cde019db4 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_1527400177482295711) { - out_1527400177482295711[0] = delta_x[0] + nom_x[0]; - out_1527400177482295711[1] = delta_x[1] + nom_x[1]; - out_1527400177482295711[2] = delta_x[2] + nom_x[2]; - out_1527400177482295711[3] = delta_x[3] + nom_x[3]; - out_1527400177482295711[4] = delta_x[4] + nom_x[4]; - out_1527400177482295711[5] = delta_x[5] + nom_x[5]; - out_1527400177482295711[6] = delta_x[6] + nom_x[6]; - out_1527400177482295711[7] = delta_x[7] + nom_x[7]; - out_1527400177482295711[8] = delta_x[8] + nom_x[8]; - out_1527400177482295711[9] = delta_x[9] + nom_x[9]; - out_1527400177482295711[10] = delta_x[10] + nom_x[10]; - out_1527400177482295711[11] = delta_x[11] + nom_x[11]; - out_1527400177482295711[12] = delta_x[12] + nom_x[12]; - out_1527400177482295711[13] = delta_x[13] + nom_x[13]; - out_1527400177482295711[14] = delta_x[14] + nom_x[14]; - out_1527400177482295711[15] = delta_x[15] + nom_x[15]; - out_1527400177482295711[16] = delta_x[16] + nom_x[16]; - out_1527400177482295711[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3037457306540495367) { + out_3037457306540495367[0] = delta_x[0] + nom_x[0]; + out_3037457306540495367[1] = delta_x[1] + nom_x[1]; + out_3037457306540495367[2] = delta_x[2] + nom_x[2]; + out_3037457306540495367[3] = delta_x[3] + nom_x[3]; + out_3037457306540495367[4] = delta_x[4] + nom_x[4]; + out_3037457306540495367[5] = delta_x[5] + nom_x[5]; + out_3037457306540495367[6] = delta_x[6] + nom_x[6]; + out_3037457306540495367[7] = delta_x[7] + nom_x[7]; + out_3037457306540495367[8] = delta_x[8] + nom_x[8]; + out_3037457306540495367[9] = delta_x[9] + nom_x[9]; + out_3037457306540495367[10] = delta_x[10] + nom_x[10]; + out_3037457306540495367[11] = delta_x[11] + nom_x[11]; + out_3037457306540495367[12] = delta_x[12] + nom_x[12]; + out_3037457306540495367[13] = delta_x[13] + nom_x[13]; + out_3037457306540495367[14] = delta_x[14] + nom_x[14]; + out_3037457306540495367[15] = delta_x[15] + nom_x[15]; + out_3037457306540495367[16] = delta_x[16] + nom_x[16]; + out_3037457306540495367[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7620805951199866590) { - out_7620805951199866590[0] = -nom_x[0] + true_x[0]; - out_7620805951199866590[1] = -nom_x[1] + true_x[1]; - out_7620805951199866590[2] = -nom_x[2] + true_x[2]; - out_7620805951199866590[3] = -nom_x[3] + true_x[3]; - out_7620805951199866590[4] = -nom_x[4] + true_x[4]; - out_7620805951199866590[5] = -nom_x[5] + true_x[5]; - out_7620805951199866590[6] = -nom_x[6] + true_x[6]; - out_7620805951199866590[7] = -nom_x[7] + true_x[7]; - out_7620805951199866590[8] = -nom_x[8] + true_x[8]; - out_7620805951199866590[9] = -nom_x[9] + true_x[9]; - out_7620805951199866590[10] = -nom_x[10] + true_x[10]; - out_7620805951199866590[11] = -nom_x[11] + true_x[11]; - out_7620805951199866590[12] = -nom_x[12] + true_x[12]; - out_7620805951199866590[13] = -nom_x[13] + true_x[13]; - out_7620805951199866590[14] = -nom_x[14] + true_x[14]; - out_7620805951199866590[15] = -nom_x[15] + true_x[15]; - out_7620805951199866590[16] = -nom_x[16] + true_x[16]; - out_7620805951199866590[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146) { + out_5504742843249496146[0] = -nom_x[0] + true_x[0]; + out_5504742843249496146[1] = -nom_x[1] + true_x[1]; + out_5504742843249496146[2] = -nom_x[2] + true_x[2]; + out_5504742843249496146[3] = -nom_x[3] + true_x[3]; + out_5504742843249496146[4] = -nom_x[4] + true_x[4]; + out_5504742843249496146[5] = -nom_x[5] + true_x[5]; + out_5504742843249496146[6] = -nom_x[6] + true_x[6]; + out_5504742843249496146[7] = -nom_x[7] + true_x[7]; + out_5504742843249496146[8] = -nom_x[8] + true_x[8]; + out_5504742843249496146[9] = -nom_x[9] + true_x[9]; + out_5504742843249496146[10] = -nom_x[10] + true_x[10]; + out_5504742843249496146[11] = -nom_x[11] + true_x[11]; + out_5504742843249496146[12] = -nom_x[12] + true_x[12]; + out_5504742843249496146[13] = -nom_x[13] + true_x[13]; + out_5504742843249496146[14] = -nom_x[14] + true_x[14]; + out_5504742843249496146[15] = -nom_x[15] + true_x[15]; + out_5504742843249496146[16] = -nom_x[16] + true_x[16]; + out_5504742843249496146[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_2041474721312435071) { - out_2041474721312435071[0] = 1.0; - out_2041474721312435071[1] = 0.0; - out_2041474721312435071[2] = 0.0; - out_2041474721312435071[3] = 0.0; - out_2041474721312435071[4] = 0.0; - out_2041474721312435071[5] = 0.0; - out_2041474721312435071[6] = 0.0; - out_2041474721312435071[7] = 0.0; - out_2041474721312435071[8] = 0.0; - out_2041474721312435071[9] = 0.0; - out_2041474721312435071[10] = 0.0; - out_2041474721312435071[11] = 0.0; - out_2041474721312435071[12] = 0.0; - out_2041474721312435071[13] = 0.0; - out_2041474721312435071[14] = 0.0; - out_2041474721312435071[15] = 0.0; - out_2041474721312435071[16] = 0.0; - out_2041474721312435071[17] = 0.0; - out_2041474721312435071[18] = 0.0; - out_2041474721312435071[19] = 1.0; - out_2041474721312435071[20] = 0.0; - out_2041474721312435071[21] = 0.0; - out_2041474721312435071[22] = 0.0; - out_2041474721312435071[23] = 0.0; - out_2041474721312435071[24] = 0.0; - out_2041474721312435071[25] = 0.0; - out_2041474721312435071[26] = 0.0; - out_2041474721312435071[27] = 0.0; - out_2041474721312435071[28] = 0.0; - out_2041474721312435071[29] = 0.0; - out_2041474721312435071[30] = 0.0; - out_2041474721312435071[31] = 0.0; - out_2041474721312435071[32] = 0.0; - out_2041474721312435071[33] = 0.0; - out_2041474721312435071[34] = 0.0; - out_2041474721312435071[35] = 0.0; - out_2041474721312435071[36] = 0.0; - out_2041474721312435071[37] = 0.0; - out_2041474721312435071[38] = 1.0; - out_2041474721312435071[39] = 0.0; - out_2041474721312435071[40] = 0.0; - out_2041474721312435071[41] = 0.0; - out_2041474721312435071[42] = 0.0; - out_2041474721312435071[43] = 0.0; - out_2041474721312435071[44] = 0.0; - out_2041474721312435071[45] = 0.0; - out_2041474721312435071[46] = 0.0; - out_2041474721312435071[47] = 0.0; - out_2041474721312435071[48] = 0.0; - out_2041474721312435071[49] = 0.0; - out_2041474721312435071[50] = 0.0; - out_2041474721312435071[51] = 0.0; - out_2041474721312435071[52] = 0.0; - out_2041474721312435071[53] = 0.0; - out_2041474721312435071[54] = 0.0; - out_2041474721312435071[55] = 0.0; - out_2041474721312435071[56] = 0.0; - out_2041474721312435071[57] = 1.0; - out_2041474721312435071[58] = 0.0; - out_2041474721312435071[59] = 0.0; - out_2041474721312435071[60] = 0.0; - out_2041474721312435071[61] = 0.0; - out_2041474721312435071[62] = 0.0; - out_2041474721312435071[63] = 0.0; - out_2041474721312435071[64] = 0.0; - out_2041474721312435071[65] = 0.0; - out_2041474721312435071[66] = 0.0; - out_2041474721312435071[67] = 0.0; - out_2041474721312435071[68] = 0.0; - out_2041474721312435071[69] = 0.0; - out_2041474721312435071[70] = 0.0; - out_2041474721312435071[71] = 0.0; - out_2041474721312435071[72] = 0.0; - out_2041474721312435071[73] = 0.0; - out_2041474721312435071[74] = 0.0; - out_2041474721312435071[75] = 0.0; - out_2041474721312435071[76] = 1.0; - out_2041474721312435071[77] = 0.0; - out_2041474721312435071[78] = 0.0; - out_2041474721312435071[79] = 0.0; - out_2041474721312435071[80] = 0.0; - out_2041474721312435071[81] = 0.0; - out_2041474721312435071[82] = 0.0; - out_2041474721312435071[83] = 0.0; - out_2041474721312435071[84] = 0.0; - out_2041474721312435071[85] = 0.0; - out_2041474721312435071[86] = 0.0; - out_2041474721312435071[87] = 0.0; - out_2041474721312435071[88] = 0.0; - out_2041474721312435071[89] = 0.0; - out_2041474721312435071[90] = 0.0; - out_2041474721312435071[91] = 0.0; - out_2041474721312435071[92] = 0.0; - out_2041474721312435071[93] = 0.0; - out_2041474721312435071[94] = 0.0; - out_2041474721312435071[95] = 1.0; - out_2041474721312435071[96] = 0.0; - out_2041474721312435071[97] = 0.0; - out_2041474721312435071[98] = 0.0; - out_2041474721312435071[99] = 0.0; - out_2041474721312435071[100] = 0.0; - out_2041474721312435071[101] = 0.0; - out_2041474721312435071[102] = 0.0; - out_2041474721312435071[103] = 0.0; - out_2041474721312435071[104] = 0.0; - out_2041474721312435071[105] = 0.0; - out_2041474721312435071[106] = 0.0; - out_2041474721312435071[107] = 0.0; - out_2041474721312435071[108] = 0.0; - out_2041474721312435071[109] = 0.0; - out_2041474721312435071[110] = 0.0; - out_2041474721312435071[111] = 0.0; - out_2041474721312435071[112] = 0.0; - out_2041474721312435071[113] = 0.0; - out_2041474721312435071[114] = 1.0; - out_2041474721312435071[115] = 0.0; - out_2041474721312435071[116] = 0.0; - out_2041474721312435071[117] = 0.0; - out_2041474721312435071[118] = 0.0; - out_2041474721312435071[119] = 0.0; - out_2041474721312435071[120] = 0.0; - out_2041474721312435071[121] = 0.0; - out_2041474721312435071[122] = 0.0; - out_2041474721312435071[123] = 0.0; - out_2041474721312435071[124] = 0.0; - out_2041474721312435071[125] = 0.0; - out_2041474721312435071[126] = 0.0; - out_2041474721312435071[127] = 0.0; - out_2041474721312435071[128] = 0.0; - out_2041474721312435071[129] = 0.0; - out_2041474721312435071[130] = 0.0; - out_2041474721312435071[131] = 0.0; - out_2041474721312435071[132] = 0.0; - out_2041474721312435071[133] = 1.0; - out_2041474721312435071[134] = 0.0; - out_2041474721312435071[135] = 0.0; - out_2041474721312435071[136] = 0.0; - out_2041474721312435071[137] = 0.0; - out_2041474721312435071[138] = 0.0; - out_2041474721312435071[139] = 0.0; - out_2041474721312435071[140] = 0.0; - out_2041474721312435071[141] = 0.0; - out_2041474721312435071[142] = 0.0; - out_2041474721312435071[143] = 0.0; - out_2041474721312435071[144] = 0.0; - out_2041474721312435071[145] = 0.0; - out_2041474721312435071[146] = 0.0; - out_2041474721312435071[147] = 0.0; - out_2041474721312435071[148] = 0.0; - out_2041474721312435071[149] = 0.0; - out_2041474721312435071[150] = 0.0; - out_2041474721312435071[151] = 0.0; - out_2041474721312435071[152] = 1.0; - out_2041474721312435071[153] = 0.0; - out_2041474721312435071[154] = 0.0; - out_2041474721312435071[155] = 0.0; - out_2041474721312435071[156] = 0.0; - out_2041474721312435071[157] = 0.0; - out_2041474721312435071[158] = 0.0; - out_2041474721312435071[159] = 0.0; - out_2041474721312435071[160] = 0.0; - out_2041474721312435071[161] = 0.0; - out_2041474721312435071[162] = 0.0; - out_2041474721312435071[163] = 0.0; - out_2041474721312435071[164] = 0.0; - out_2041474721312435071[165] = 0.0; - out_2041474721312435071[166] = 0.0; - out_2041474721312435071[167] = 0.0; - out_2041474721312435071[168] = 0.0; - out_2041474721312435071[169] = 0.0; - out_2041474721312435071[170] = 0.0; - out_2041474721312435071[171] = 1.0; - out_2041474721312435071[172] = 0.0; - out_2041474721312435071[173] = 0.0; - out_2041474721312435071[174] = 0.0; - out_2041474721312435071[175] = 0.0; - out_2041474721312435071[176] = 0.0; - out_2041474721312435071[177] = 0.0; - out_2041474721312435071[178] = 0.0; - out_2041474721312435071[179] = 0.0; - out_2041474721312435071[180] = 0.0; - out_2041474721312435071[181] = 0.0; - out_2041474721312435071[182] = 0.0; - out_2041474721312435071[183] = 0.0; - out_2041474721312435071[184] = 0.0; - out_2041474721312435071[185] = 0.0; - out_2041474721312435071[186] = 0.0; - out_2041474721312435071[187] = 0.0; - out_2041474721312435071[188] = 0.0; - out_2041474721312435071[189] = 0.0; - out_2041474721312435071[190] = 1.0; - out_2041474721312435071[191] = 0.0; - out_2041474721312435071[192] = 0.0; - out_2041474721312435071[193] = 0.0; - out_2041474721312435071[194] = 0.0; - out_2041474721312435071[195] = 0.0; - out_2041474721312435071[196] = 0.0; - out_2041474721312435071[197] = 0.0; - out_2041474721312435071[198] = 0.0; - out_2041474721312435071[199] = 0.0; - out_2041474721312435071[200] = 0.0; - out_2041474721312435071[201] = 0.0; - out_2041474721312435071[202] = 0.0; - out_2041474721312435071[203] = 0.0; - out_2041474721312435071[204] = 0.0; - out_2041474721312435071[205] = 0.0; - out_2041474721312435071[206] = 0.0; - out_2041474721312435071[207] = 0.0; - out_2041474721312435071[208] = 0.0; - out_2041474721312435071[209] = 1.0; - out_2041474721312435071[210] = 0.0; - out_2041474721312435071[211] = 0.0; - out_2041474721312435071[212] = 0.0; - out_2041474721312435071[213] = 0.0; - out_2041474721312435071[214] = 0.0; - out_2041474721312435071[215] = 0.0; - out_2041474721312435071[216] = 0.0; - out_2041474721312435071[217] = 0.0; - out_2041474721312435071[218] = 0.0; - out_2041474721312435071[219] = 0.0; - out_2041474721312435071[220] = 0.0; - out_2041474721312435071[221] = 0.0; - out_2041474721312435071[222] = 0.0; - out_2041474721312435071[223] = 0.0; - out_2041474721312435071[224] = 0.0; - out_2041474721312435071[225] = 0.0; - out_2041474721312435071[226] = 0.0; - out_2041474721312435071[227] = 0.0; - out_2041474721312435071[228] = 1.0; - out_2041474721312435071[229] = 0.0; - out_2041474721312435071[230] = 0.0; - out_2041474721312435071[231] = 0.0; - out_2041474721312435071[232] = 0.0; - out_2041474721312435071[233] = 0.0; - out_2041474721312435071[234] = 0.0; - out_2041474721312435071[235] = 0.0; - out_2041474721312435071[236] = 0.0; - out_2041474721312435071[237] = 0.0; - out_2041474721312435071[238] = 0.0; - out_2041474721312435071[239] = 0.0; - out_2041474721312435071[240] = 0.0; - out_2041474721312435071[241] = 0.0; - out_2041474721312435071[242] = 0.0; - out_2041474721312435071[243] = 0.0; - out_2041474721312435071[244] = 0.0; - out_2041474721312435071[245] = 0.0; - out_2041474721312435071[246] = 0.0; - out_2041474721312435071[247] = 1.0; - out_2041474721312435071[248] = 0.0; - out_2041474721312435071[249] = 0.0; - out_2041474721312435071[250] = 0.0; - out_2041474721312435071[251] = 0.0; - out_2041474721312435071[252] = 0.0; - out_2041474721312435071[253] = 0.0; - out_2041474721312435071[254] = 0.0; - out_2041474721312435071[255] = 0.0; - out_2041474721312435071[256] = 0.0; - out_2041474721312435071[257] = 0.0; - out_2041474721312435071[258] = 0.0; - out_2041474721312435071[259] = 0.0; - out_2041474721312435071[260] = 0.0; - out_2041474721312435071[261] = 0.0; - out_2041474721312435071[262] = 0.0; - out_2041474721312435071[263] = 0.0; - out_2041474721312435071[264] = 0.0; - out_2041474721312435071[265] = 0.0; - out_2041474721312435071[266] = 1.0; - out_2041474721312435071[267] = 0.0; - out_2041474721312435071[268] = 0.0; - out_2041474721312435071[269] = 0.0; - out_2041474721312435071[270] = 0.0; - out_2041474721312435071[271] = 0.0; - out_2041474721312435071[272] = 0.0; - out_2041474721312435071[273] = 0.0; - out_2041474721312435071[274] = 0.0; - out_2041474721312435071[275] = 0.0; - out_2041474721312435071[276] = 0.0; - out_2041474721312435071[277] = 0.0; - out_2041474721312435071[278] = 0.0; - out_2041474721312435071[279] = 0.0; - out_2041474721312435071[280] = 0.0; - out_2041474721312435071[281] = 0.0; - out_2041474721312435071[282] = 0.0; - out_2041474721312435071[283] = 0.0; - out_2041474721312435071[284] = 0.0; - out_2041474721312435071[285] = 1.0; - out_2041474721312435071[286] = 0.0; - out_2041474721312435071[287] = 0.0; - out_2041474721312435071[288] = 0.0; - out_2041474721312435071[289] = 0.0; - out_2041474721312435071[290] = 0.0; - out_2041474721312435071[291] = 0.0; - out_2041474721312435071[292] = 0.0; - out_2041474721312435071[293] = 0.0; - out_2041474721312435071[294] = 0.0; - out_2041474721312435071[295] = 0.0; - out_2041474721312435071[296] = 0.0; - out_2041474721312435071[297] = 0.0; - out_2041474721312435071[298] = 0.0; - out_2041474721312435071[299] = 0.0; - out_2041474721312435071[300] = 0.0; - out_2041474721312435071[301] = 0.0; - out_2041474721312435071[302] = 0.0; - out_2041474721312435071[303] = 0.0; - out_2041474721312435071[304] = 1.0; - out_2041474721312435071[305] = 0.0; - out_2041474721312435071[306] = 0.0; - out_2041474721312435071[307] = 0.0; - out_2041474721312435071[308] = 0.0; - out_2041474721312435071[309] = 0.0; - out_2041474721312435071[310] = 0.0; - out_2041474721312435071[311] = 0.0; - out_2041474721312435071[312] = 0.0; - out_2041474721312435071[313] = 0.0; - out_2041474721312435071[314] = 0.0; - out_2041474721312435071[315] = 0.0; - out_2041474721312435071[316] = 0.0; - out_2041474721312435071[317] = 0.0; - out_2041474721312435071[318] = 0.0; - out_2041474721312435071[319] = 0.0; - out_2041474721312435071[320] = 0.0; - out_2041474721312435071[321] = 0.0; - out_2041474721312435071[322] = 0.0; - out_2041474721312435071[323] = 1.0; +void H_mod_fun(double *state, double *out_4825348341631687231) { + out_4825348341631687231[0] = 1.0; + out_4825348341631687231[1] = 0.0; + out_4825348341631687231[2] = 0.0; + out_4825348341631687231[3] = 0.0; + out_4825348341631687231[4] = 0.0; + out_4825348341631687231[5] = 0.0; + out_4825348341631687231[6] = 0.0; + out_4825348341631687231[7] = 0.0; + out_4825348341631687231[8] = 0.0; + out_4825348341631687231[9] = 0.0; + out_4825348341631687231[10] = 0.0; + out_4825348341631687231[11] = 0.0; + out_4825348341631687231[12] = 0.0; + out_4825348341631687231[13] = 0.0; + out_4825348341631687231[14] = 0.0; + out_4825348341631687231[15] = 0.0; + out_4825348341631687231[16] = 0.0; + out_4825348341631687231[17] = 0.0; + out_4825348341631687231[18] = 0.0; + out_4825348341631687231[19] = 1.0; + out_4825348341631687231[20] = 0.0; + out_4825348341631687231[21] = 0.0; + out_4825348341631687231[22] = 0.0; + out_4825348341631687231[23] = 0.0; + out_4825348341631687231[24] = 0.0; + out_4825348341631687231[25] = 0.0; + out_4825348341631687231[26] = 0.0; + out_4825348341631687231[27] = 0.0; + out_4825348341631687231[28] = 0.0; + out_4825348341631687231[29] = 0.0; + out_4825348341631687231[30] = 0.0; + out_4825348341631687231[31] = 0.0; + out_4825348341631687231[32] = 0.0; + out_4825348341631687231[33] = 0.0; + out_4825348341631687231[34] = 0.0; + out_4825348341631687231[35] = 0.0; + out_4825348341631687231[36] = 0.0; + out_4825348341631687231[37] = 0.0; + out_4825348341631687231[38] = 1.0; + out_4825348341631687231[39] = 0.0; + out_4825348341631687231[40] = 0.0; + out_4825348341631687231[41] = 0.0; + out_4825348341631687231[42] = 0.0; + out_4825348341631687231[43] = 0.0; + out_4825348341631687231[44] = 0.0; + out_4825348341631687231[45] = 0.0; + out_4825348341631687231[46] = 0.0; + out_4825348341631687231[47] = 0.0; + out_4825348341631687231[48] = 0.0; + out_4825348341631687231[49] = 0.0; + out_4825348341631687231[50] = 0.0; + out_4825348341631687231[51] = 0.0; + out_4825348341631687231[52] = 0.0; + out_4825348341631687231[53] = 0.0; + out_4825348341631687231[54] = 0.0; + out_4825348341631687231[55] = 0.0; + out_4825348341631687231[56] = 0.0; + out_4825348341631687231[57] = 1.0; + out_4825348341631687231[58] = 0.0; + out_4825348341631687231[59] = 0.0; + out_4825348341631687231[60] = 0.0; + out_4825348341631687231[61] = 0.0; + out_4825348341631687231[62] = 0.0; + out_4825348341631687231[63] = 0.0; + out_4825348341631687231[64] = 0.0; + out_4825348341631687231[65] = 0.0; + out_4825348341631687231[66] = 0.0; + out_4825348341631687231[67] = 0.0; + out_4825348341631687231[68] = 0.0; + out_4825348341631687231[69] = 0.0; + out_4825348341631687231[70] = 0.0; + out_4825348341631687231[71] = 0.0; + out_4825348341631687231[72] = 0.0; + out_4825348341631687231[73] = 0.0; + out_4825348341631687231[74] = 0.0; + out_4825348341631687231[75] = 0.0; + out_4825348341631687231[76] = 1.0; + out_4825348341631687231[77] = 0.0; + out_4825348341631687231[78] = 0.0; + out_4825348341631687231[79] = 0.0; + out_4825348341631687231[80] = 0.0; + out_4825348341631687231[81] = 0.0; + out_4825348341631687231[82] = 0.0; + out_4825348341631687231[83] = 0.0; + out_4825348341631687231[84] = 0.0; + out_4825348341631687231[85] = 0.0; + out_4825348341631687231[86] = 0.0; + out_4825348341631687231[87] = 0.0; + out_4825348341631687231[88] = 0.0; + out_4825348341631687231[89] = 0.0; + out_4825348341631687231[90] = 0.0; + out_4825348341631687231[91] = 0.0; + out_4825348341631687231[92] = 0.0; + out_4825348341631687231[93] = 0.0; + out_4825348341631687231[94] = 0.0; + out_4825348341631687231[95] = 1.0; + out_4825348341631687231[96] = 0.0; + out_4825348341631687231[97] = 0.0; + out_4825348341631687231[98] = 0.0; + out_4825348341631687231[99] = 0.0; + out_4825348341631687231[100] = 0.0; + out_4825348341631687231[101] = 0.0; + out_4825348341631687231[102] = 0.0; + out_4825348341631687231[103] = 0.0; + out_4825348341631687231[104] = 0.0; + out_4825348341631687231[105] = 0.0; + out_4825348341631687231[106] = 0.0; + out_4825348341631687231[107] = 0.0; + out_4825348341631687231[108] = 0.0; + out_4825348341631687231[109] = 0.0; + out_4825348341631687231[110] = 0.0; + out_4825348341631687231[111] = 0.0; + out_4825348341631687231[112] = 0.0; + out_4825348341631687231[113] = 0.0; + out_4825348341631687231[114] = 1.0; + out_4825348341631687231[115] = 0.0; + out_4825348341631687231[116] = 0.0; + out_4825348341631687231[117] = 0.0; + out_4825348341631687231[118] = 0.0; + out_4825348341631687231[119] = 0.0; + out_4825348341631687231[120] = 0.0; + out_4825348341631687231[121] = 0.0; + out_4825348341631687231[122] = 0.0; + out_4825348341631687231[123] = 0.0; + out_4825348341631687231[124] = 0.0; + out_4825348341631687231[125] = 0.0; + out_4825348341631687231[126] = 0.0; + out_4825348341631687231[127] = 0.0; + out_4825348341631687231[128] = 0.0; + out_4825348341631687231[129] = 0.0; + out_4825348341631687231[130] = 0.0; + out_4825348341631687231[131] = 0.0; + out_4825348341631687231[132] = 0.0; + out_4825348341631687231[133] = 1.0; + out_4825348341631687231[134] = 0.0; + out_4825348341631687231[135] = 0.0; + out_4825348341631687231[136] = 0.0; + out_4825348341631687231[137] = 0.0; + out_4825348341631687231[138] = 0.0; + out_4825348341631687231[139] = 0.0; + out_4825348341631687231[140] = 0.0; + out_4825348341631687231[141] = 0.0; + out_4825348341631687231[142] = 0.0; + out_4825348341631687231[143] = 0.0; + out_4825348341631687231[144] = 0.0; + out_4825348341631687231[145] = 0.0; + out_4825348341631687231[146] = 0.0; + out_4825348341631687231[147] = 0.0; + out_4825348341631687231[148] = 0.0; + out_4825348341631687231[149] = 0.0; + out_4825348341631687231[150] = 0.0; + out_4825348341631687231[151] = 0.0; + out_4825348341631687231[152] = 1.0; + out_4825348341631687231[153] = 0.0; + out_4825348341631687231[154] = 0.0; + out_4825348341631687231[155] = 0.0; + out_4825348341631687231[156] = 0.0; + out_4825348341631687231[157] = 0.0; + out_4825348341631687231[158] = 0.0; + out_4825348341631687231[159] = 0.0; + out_4825348341631687231[160] = 0.0; + out_4825348341631687231[161] = 0.0; + out_4825348341631687231[162] = 0.0; + out_4825348341631687231[163] = 0.0; + out_4825348341631687231[164] = 0.0; + out_4825348341631687231[165] = 0.0; + out_4825348341631687231[166] = 0.0; + out_4825348341631687231[167] = 0.0; + out_4825348341631687231[168] = 0.0; + out_4825348341631687231[169] = 0.0; + out_4825348341631687231[170] = 0.0; + out_4825348341631687231[171] = 1.0; + out_4825348341631687231[172] = 0.0; + out_4825348341631687231[173] = 0.0; + out_4825348341631687231[174] = 0.0; + out_4825348341631687231[175] = 0.0; + out_4825348341631687231[176] = 0.0; + out_4825348341631687231[177] = 0.0; + out_4825348341631687231[178] = 0.0; + out_4825348341631687231[179] = 0.0; + out_4825348341631687231[180] = 0.0; + out_4825348341631687231[181] = 0.0; + out_4825348341631687231[182] = 0.0; + out_4825348341631687231[183] = 0.0; + out_4825348341631687231[184] = 0.0; + out_4825348341631687231[185] = 0.0; + out_4825348341631687231[186] = 0.0; + out_4825348341631687231[187] = 0.0; + out_4825348341631687231[188] = 0.0; + out_4825348341631687231[189] = 0.0; + out_4825348341631687231[190] = 1.0; + out_4825348341631687231[191] = 0.0; + out_4825348341631687231[192] = 0.0; + out_4825348341631687231[193] = 0.0; + out_4825348341631687231[194] = 0.0; + out_4825348341631687231[195] = 0.0; + out_4825348341631687231[196] = 0.0; + out_4825348341631687231[197] = 0.0; + out_4825348341631687231[198] = 0.0; + out_4825348341631687231[199] = 0.0; + out_4825348341631687231[200] = 0.0; + out_4825348341631687231[201] = 0.0; + out_4825348341631687231[202] = 0.0; + out_4825348341631687231[203] = 0.0; + out_4825348341631687231[204] = 0.0; + out_4825348341631687231[205] = 0.0; + out_4825348341631687231[206] = 0.0; + out_4825348341631687231[207] = 0.0; + out_4825348341631687231[208] = 0.0; + out_4825348341631687231[209] = 1.0; + out_4825348341631687231[210] = 0.0; + out_4825348341631687231[211] = 0.0; + out_4825348341631687231[212] = 0.0; + out_4825348341631687231[213] = 0.0; + out_4825348341631687231[214] = 0.0; + out_4825348341631687231[215] = 0.0; + out_4825348341631687231[216] = 0.0; + out_4825348341631687231[217] = 0.0; + out_4825348341631687231[218] = 0.0; + out_4825348341631687231[219] = 0.0; + out_4825348341631687231[220] = 0.0; + out_4825348341631687231[221] = 0.0; + out_4825348341631687231[222] = 0.0; + out_4825348341631687231[223] = 0.0; + out_4825348341631687231[224] = 0.0; + out_4825348341631687231[225] = 0.0; + out_4825348341631687231[226] = 0.0; + out_4825348341631687231[227] = 0.0; + out_4825348341631687231[228] = 1.0; + out_4825348341631687231[229] = 0.0; + out_4825348341631687231[230] = 0.0; + out_4825348341631687231[231] = 0.0; + out_4825348341631687231[232] = 0.0; + out_4825348341631687231[233] = 0.0; + out_4825348341631687231[234] = 0.0; + out_4825348341631687231[235] = 0.0; + out_4825348341631687231[236] = 0.0; + out_4825348341631687231[237] = 0.0; + out_4825348341631687231[238] = 0.0; + out_4825348341631687231[239] = 0.0; + out_4825348341631687231[240] = 0.0; + out_4825348341631687231[241] = 0.0; + out_4825348341631687231[242] = 0.0; + out_4825348341631687231[243] = 0.0; + out_4825348341631687231[244] = 0.0; + out_4825348341631687231[245] = 0.0; + out_4825348341631687231[246] = 0.0; + out_4825348341631687231[247] = 1.0; + out_4825348341631687231[248] = 0.0; + out_4825348341631687231[249] = 0.0; + out_4825348341631687231[250] = 0.0; + out_4825348341631687231[251] = 0.0; + out_4825348341631687231[252] = 0.0; + out_4825348341631687231[253] = 0.0; + out_4825348341631687231[254] = 0.0; + out_4825348341631687231[255] = 0.0; + out_4825348341631687231[256] = 0.0; + out_4825348341631687231[257] = 0.0; + out_4825348341631687231[258] = 0.0; + out_4825348341631687231[259] = 0.0; + out_4825348341631687231[260] = 0.0; + out_4825348341631687231[261] = 0.0; + out_4825348341631687231[262] = 0.0; + out_4825348341631687231[263] = 0.0; + out_4825348341631687231[264] = 0.0; + out_4825348341631687231[265] = 0.0; + out_4825348341631687231[266] = 1.0; + out_4825348341631687231[267] = 0.0; + out_4825348341631687231[268] = 0.0; + out_4825348341631687231[269] = 0.0; + out_4825348341631687231[270] = 0.0; + out_4825348341631687231[271] = 0.0; + out_4825348341631687231[272] = 0.0; + out_4825348341631687231[273] = 0.0; + out_4825348341631687231[274] = 0.0; + out_4825348341631687231[275] = 0.0; + out_4825348341631687231[276] = 0.0; + out_4825348341631687231[277] = 0.0; + out_4825348341631687231[278] = 0.0; + out_4825348341631687231[279] = 0.0; + out_4825348341631687231[280] = 0.0; + out_4825348341631687231[281] = 0.0; + out_4825348341631687231[282] = 0.0; + out_4825348341631687231[283] = 0.0; + out_4825348341631687231[284] = 0.0; + out_4825348341631687231[285] = 1.0; + out_4825348341631687231[286] = 0.0; + out_4825348341631687231[287] = 0.0; + out_4825348341631687231[288] = 0.0; + out_4825348341631687231[289] = 0.0; + out_4825348341631687231[290] = 0.0; + out_4825348341631687231[291] = 0.0; + out_4825348341631687231[292] = 0.0; + out_4825348341631687231[293] = 0.0; + out_4825348341631687231[294] = 0.0; + out_4825348341631687231[295] = 0.0; + out_4825348341631687231[296] = 0.0; + out_4825348341631687231[297] = 0.0; + out_4825348341631687231[298] = 0.0; + out_4825348341631687231[299] = 0.0; + out_4825348341631687231[300] = 0.0; + out_4825348341631687231[301] = 0.0; + out_4825348341631687231[302] = 0.0; + out_4825348341631687231[303] = 0.0; + out_4825348341631687231[304] = 1.0; + out_4825348341631687231[305] = 0.0; + out_4825348341631687231[306] = 0.0; + out_4825348341631687231[307] = 0.0; + out_4825348341631687231[308] = 0.0; + out_4825348341631687231[309] = 0.0; + out_4825348341631687231[310] = 0.0; + out_4825348341631687231[311] = 0.0; + out_4825348341631687231[312] = 0.0; + out_4825348341631687231[313] = 0.0; + out_4825348341631687231[314] = 0.0; + out_4825348341631687231[315] = 0.0; + out_4825348341631687231[316] = 0.0; + out_4825348341631687231[317] = 0.0; + out_4825348341631687231[318] = 0.0; + out_4825348341631687231[319] = 0.0; + out_4825348341631687231[320] = 0.0; + out_4825348341631687231[321] = 0.0; + out_4825348341631687231[322] = 0.0; + out_4825348341631687231[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3319995548118437592) { - out_3319995548118437592[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_3319995548118437592[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_3319995548118437592[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_3319995548118437592[3] = dt*state[12] + state[3]; - out_3319995548118437592[4] = dt*state[13] + state[4]; - out_3319995548118437592[5] = dt*state[14] + state[5]; - out_3319995548118437592[6] = state[6]; - out_3319995548118437592[7] = state[7]; - out_3319995548118437592[8] = state[8]; - out_3319995548118437592[9] = state[9]; - out_3319995548118437592[10] = state[10]; - out_3319995548118437592[11] = state[11]; - out_3319995548118437592[12] = state[12]; - out_3319995548118437592[13] = state[13]; - out_3319995548118437592[14] = state[14]; - out_3319995548118437592[15] = state[15]; - out_3319995548118437592[16] = state[16]; - out_3319995548118437592[17] = state[17]; +void f_fun(double *state, double dt, double *out_6515554172087681296) { + out_6515554172087681296[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_6515554172087681296[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_6515554172087681296[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_6515554172087681296[3] = dt*state[12] + state[3]; + out_6515554172087681296[4] = dt*state[13] + state[4]; + out_6515554172087681296[5] = dt*state[14] + state[5]; + out_6515554172087681296[6] = state[6]; + out_6515554172087681296[7] = state[7]; + out_6515554172087681296[8] = state[8]; + out_6515554172087681296[9] = state[9]; + out_6515554172087681296[10] = state[10]; + out_6515554172087681296[11] = state[11]; + out_6515554172087681296[12] = state[12]; + out_6515554172087681296[13] = state[13]; + out_6515554172087681296[14] = state[14]; + out_6515554172087681296[15] = state[15]; + out_6515554172087681296[16] = state[16]; + out_6515554172087681296[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1297884238983223646) { - out_1297884238983223646[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_1297884238983223646[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_1297884238983223646[2] = 0; - out_1297884238983223646[3] = 0; - out_1297884238983223646[4] = 0; - out_1297884238983223646[5] = 0; - out_1297884238983223646[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_1297884238983223646[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_1297884238983223646[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_1297884238983223646[9] = 0; - out_1297884238983223646[10] = 0; - out_1297884238983223646[11] = 0; - out_1297884238983223646[12] = 0; - out_1297884238983223646[13] = 0; - out_1297884238983223646[14] = 0; - out_1297884238983223646[15] = 0; - out_1297884238983223646[16] = 0; - out_1297884238983223646[17] = 0; - out_1297884238983223646[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_1297884238983223646[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_1297884238983223646[20] = 0; - out_1297884238983223646[21] = 0; - out_1297884238983223646[22] = 0; - out_1297884238983223646[23] = 0; - out_1297884238983223646[24] = 0; - out_1297884238983223646[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_1297884238983223646[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_1297884238983223646[27] = 0; - out_1297884238983223646[28] = 0; - out_1297884238983223646[29] = 0; - out_1297884238983223646[30] = 0; - out_1297884238983223646[31] = 0; - out_1297884238983223646[32] = 0; - out_1297884238983223646[33] = 0; - out_1297884238983223646[34] = 0; - out_1297884238983223646[35] = 0; - out_1297884238983223646[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_1297884238983223646[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_1297884238983223646[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_1297884238983223646[39] = 0; - out_1297884238983223646[40] = 0; - out_1297884238983223646[41] = 0; - out_1297884238983223646[42] = 0; - out_1297884238983223646[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_1297884238983223646[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_1297884238983223646[45] = 0; - out_1297884238983223646[46] = 0; - out_1297884238983223646[47] = 0; - out_1297884238983223646[48] = 0; - out_1297884238983223646[49] = 0; - out_1297884238983223646[50] = 0; - out_1297884238983223646[51] = 0; - out_1297884238983223646[52] = 0; - out_1297884238983223646[53] = 0; - out_1297884238983223646[54] = 0; - out_1297884238983223646[55] = 0; - out_1297884238983223646[56] = 0; - out_1297884238983223646[57] = 1; - out_1297884238983223646[58] = 0; - out_1297884238983223646[59] = 0; - out_1297884238983223646[60] = 0; - out_1297884238983223646[61] = 0; - out_1297884238983223646[62] = 0; - out_1297884238983223646[63] = 0; - out_1297884238983223646[64] = 0; - out_1297884238983223646[65] = 0; - out_1297884238983223646[66] = dt; - out_1297884238983223646[67] = 0; - out_1297884238983223646[68] = 0; - out_1297884238983223646[69] = 0; - out_1297884238983223646[70] = 0; - out_1297884238983223646[71] = 0; - out_1297884238983223646[72] = 0; - out_1297884238983223646[73] = 0; - out_1297884238983223646[74] = 0; - out_1297884238983223646[75] = 0; - out_1297884238983223646[76] = 1; - out_1297884238983223646[77] = 0; - out_1297884238983223646[78] = 0; - out_1297884238983223646[79] = 0; - out_1297884238983223646[80] = 0; - out_1297884238983223646[81] = 0; - out_1297884238983223646[82] = 0; - out_1297884238983223646[83] = 0; - out_1297884238983223646[84] = 0; - out_1297884238983223646[85] = dt; - out_1297884238983223646[86] = 0; - out_1297884238983223646[87] = 0; - out_1297884238983223646[88] = 0; - out_1297884238983223646[89] = 0; - out_1297884238983223646[90] = 0; - out_1297884238983223646[91] = 0; - out_1297884238983223646[92] = 0; - out_1297884238983223646[93] = 0; - out_1297884238983223646[94] = 0; - out_1297884238983223646[95] = 1; - out_1297884238983223646[96] = 0; - out_1297884238983223646[97] = 0; - out_1297884238983223646[98] = 0; - out_1297884238983223646[99] = 0; - out_1297884238983223646[100] = 0; - out_1297884238983223646[101] = 0; - out_1297884238983223646[102] = 0; - out_1297884238983223646[103] = 0; - out_1297884238983223646[104] = dt; - out_1297884238983223646[105] = 0; - out_1297884238983223646[106] = 0; - out_1297884238983223646[107] = 0; - out_1297884238983223646[108] = 0; - out_1297884238983223646[109] = 0; - out_1297884238983223646[110] = 0; - out_1297884238983223646[111] = 0; - out_1297884238983223646[112] = 0; - out_1297884238983223646[113] = 0; - out_1297884238983223646[114] = 1; - out_1297884238983223646[115] = 0; - out_1297884238983223646[116] = 0; - out_1297884238983223646[117] = 0; - out_1297884238983223646[118] = 0; - out_1297884238983223646[119] = 0; - out_1297884238983223646[120] = 0; - out_1297884238983223646[121] = 0; - out_1297884238983223646[122] = 0; - out_1297884238983223646[123] = 0; - out_1297884238983223646[124] = 0; - out_1297884238983223646[125] = 0; - out_1297884238983223646[126] = 0; - out_1297884238983223646[127] = 0; - out_1297884238983223646[128] = 0; - out_1297884238983223646[129] = 0; - out_1297884238983223646[130] = 0; - out_1297884238983223646[131] = 0; - out_1297884238983223646[132] = 0; - out_1297884238983223646[133] = 1; - out_1297884238983223646[134] = 0; - out_1297884238983223646[135] = 0; - out_1297884238983223646[136] = 0; - out_1297884238983223646[137] = 0; - out_1297884238983223646[138] = 0; - out_1297884238983223646[139] = 0; - out_1297884238983223646[140] = 0; - out_1297884238983223646[141] = 0; - out_1297884238983223646[142] = 0; - out_1297884238983223646[143] = 0; - out_1297884238983223646[144] = 0; - out_1297884238983223646[145] = 0; - out_1297884238983223646[146] = 0; - out_1297884238983223646[147] = 0; - out_1297884238983223646[148] = 0; - out_1297884238983223646[149] = 0; - out_1297884238983223646[150] = 0; - out_1297884238983223646[151] = 0; - out_1297884238983223646[152] = 1; - out_1297884238983223646[153] = 0; - out_1297884238983223646[154] = 0; - out_1297884238983223646[155] = 0; - out_1297884238983223646[156] = 0; - out_1297884238983223646[157] = 0; - out_1297884238983223646[158] = 0; - out_1297884238983223646[159] = 0; - out_1297884238983223646[160] = 0; - out_1297884238983223646[161] = 0; - out_1297884238983223646[162] = 0; - out_1297884238983223646[163] = 0; - out_1297884238983223646[164] = 0; - out_1297884238983223646[165] = 0; - out_1297884238983223646[166] = 0; - out_1297884238983223646[167] = 0; - out_1297884238983223646[168] = 0; - out_1297884238983223646[169] = 0; - out_1297884238983223646[170] = 0; - out_1297884238983223646[171] = 1; - out_1297884238983223646[172] = 0; - out_1297884238983223646[173] = 0; - out_1297884238983223646[174] = 0; - out_1297884238983223646[175] = 0; - out_1297884238983223646[176] = 0; - out_1297884238983223646[177] = 0; - out_1297884238983223646[178] = 0; - out_1297884238983223646[179] = 0; - out_1297884238983223646[180] = 0; - out_1297884238983223646[181] = 0; - out_1297884238983223646[182] = 0; - out_1297884238983223646[183] = 0; - out_1297884238983223646[184] = 0; - out_1297884238983223646[185] = 0; - out_1297884238983223646[186] = 0; - out_1297884238983223646[187] = 0; - out_1297884238983223646[188] = 0; - out_1297884238983223646[189] = 0; - out_1297884238983223646[190] = 1; - out_1297884238983223646[191] = 0; - out_1297884238983223646[192] = 0; - out_1297884238983223646[193] = 0; - out_1297884238983223646[194] = 0; - out_1297884238983223646[195] = 0; - out_1297884238983223646[196] = 0; - out_1297884238983223646[197] = 0; - out_1297884238983223646[198] = 0; - out_1297884238983223646[199] = 0; - out_1297884238983223646[200] = 0; - out_1297884238983223646[201] = 0; - out_1297884238983223646[202] = 0; - out_1297884238983223646[203] = 0; - out_1297884238983223646[204] = 0; - out_1297884238983223646[205] = 0; - out_1297884238983223646[206] = 0; - out_1297884238983223646[207] = 0; - out_1297884238983223646[208] = 0; - out_1297884238983223646[209] = 1; - out_1297884238983223646[210] = 0; - out_1297884238983223646[211] = 0; - out_1297884238983223646[212] = 0; - out_1297884238983223646[213] = 0; - out_1297884238983223646[214] = 0; - out_1297884238983223646[215] = 0; - out_1297884238983223646[216] = 0; - out_1297884238983223646[217] = 0; - out_1297884238983223646[218] = 0; - out_1297884238983223646[219] = 0; - out_1297884238983223646[220] = 0; - out_1297884238983223646[221] = 0; - out_1297884238983223646[222] = 0; - out_1297884238983223646[223] = 0; - out_1297884238983223646[224] = 0; - out_1297884238983223646[225] = 0; - out_1297884238983223646[226] = 0; - out_1297884238983223646[227] = 0; - out_1297884238983223646[228] = 1; - out_1297884238983223646[229] = 0; - out_1297884238983223646[230] = 0; - out_1297884238983223646[231] = 0; - out_1297884238983223646[232] = 0; - out_1297884238983223646[233] = 0; - out_1297884238983223646[234] = 0; - out_1297884238983223646[235] = 0; - out_1297884238983223646[236] = 0; - out_1297884238983223646[237] = 0; - out_1297884238983223646[238] = 0; - out_1297884238983223646[239] = 0; - out_1297884238983223646[240] = 0; - out_1297884238983223646[241] = 0; - out_1297884238983223646[242] = 0; - out_1297884238983223646[243] = 0; - out_1297884238983223646[244] = 0; - out_1297884238983223646[245] = 0; - out_1297884238983223646[246] = 0; - out_1297884238983223646[247] = 1; - out_1297884238983223646[248] = 0; - out_1297884238983223646[249] = 0; - out_1297884238983223646[250] = 0; - out_1297884238983223646[251] = 0; - out_1297884238983223646[252] = 0; - out_1297884238983223646[253] = 0; - out_1297884238983223646[254] = 0; - out_1297884238983223646[255] = 0; - out_1297884238983223646[256] = 0; - out_1297884238983223646[257] = 0; - out_1297884238983223646[258] = 0; - out_1297884238983223646[259] = 0; - out_1297884238983223646[260] = 0; - out_1297884238983223646[261] = 0; - out_1297884238983223646[262] = 0; - out_1297884238983223646[263] = 0; - out_1297884238983223646[264] = 0; - out_1297884238983223646[265] = 0; - out_1297884238983223646[266] = 1; - out_1297884238983223646[267] = 0; - out_1297884238983223646[268] = 0; - out_1297884238983223646[269] = 0; - out_1297884238983223646[270] = 0; - out_1297884238983223646[271] = 0; - out_1297884238983223646[272] = 0; - out_1297884238983223646[273] = 0; - out_1297884238983223646[274] = 0; - out_1297884238983223646[275] = 0; - out_1297884238983223646[276] = 0; - out_1297884238983223646[277] = 0; - out_1297884238983223646[278] = 0; - out_1297884238983223646[279] = 0; - out_1297884238983223646[280] = 0; - out_1297884238983223646[281] = 0; - out_1297884238983223646[282] = 0; - out_1297884238983223646[283] = 0; - out_1297884238983223646[284] = 0; - out_1297884238983223646[285] = 1; - out_1297884238983223646[286] = 0; - out_1297884238983223646[287] = 0; - out_1297884238983223646[288] = 0; - out_1297884238983223646[289] = 0; - out_1297884238983223646[290] = 0; - out_1297884238983223646[291] = 0; - out_1297884238983223646[292] = 0; - out_1297884238983223646[293] = 0; - out_1297884238983223646[294] = 0; - out_1297884238983223646[295] = 0; - out_1297884238983223646[296] = 0; - out_1297884238983223646[297] = 0; - out_1297884238983223646[298] = 0; - out_1297884238983223646[299] = 0; - out_1297884238983223646[300] = 0; - out_1297884238983223646[301] = 0; - out_1297884238983223646[302] = 0; - out_1297884238983223646[303] = 0; - out_1297884238983223646[304] = 1; - out_1297884238983223646[305] = 0; - out_1297884238983223646[306] = 0; - out_1297884238983223646[307] = 0; - out_1297884238983223646[308] = 0; - out_1297884238983223646[309] = 0; - out_1297884238983223646[310] = 0; - out_1297884238983223646[311] = 0; - out_1297884238983223646[312] = 0; - out_1297884238983223646[313] = 0; - out_1297884238983223646[314] = 0; - out_1297884238983223646[315] = 0; - out_1297884238983223646[316] = 0; - out_1297884238983223646[317] = 0; - out_1297884238983223646[318] = 0; - out_1297884238983223646[319] = 0; - out_1297884238983223646[320] = 0; - out_1297884238983223646[321] = 0; - out_1297884238983223646[322] = 0; - out_1297884238983223646[323] = 1; +void F_fun(double *state, double dt, double *out_6200830679267345445) { + out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[2] = 0; + out_6200830679267345445[3] = 0; + out_6200830679267345445[4] = 0; + out_6200830679267345445[5] = 0; + out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[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_6200830679267345445[9] = 0; + out_6200830679267345445[10] = 0; + out_6200830679267345445[11] = 0; + out_6200830679267345445[12] = 0; + out_6200830679267345445[13] = 0; + out_6200830679267345445[14] = 0; + out_6200830679267345445[15] = 0; + out_6200830679267345445[16] = 0; + out_6200830679267345445[17] = 0; + out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[20] = 0; + out_6200830679267345445[21] = 0; + out_6200830679267345445[22] = 0; + out_6200830679267345445[23] = 0; + out_6200830679267345445[24] = 0; + out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[27] = 0; + out_6200830679267345445[28] = 0; + out_6200830679267345445[29] = 0; + out_6200830679267345445[30] = 0; + out_6200830679267345445[31] = 0; + out_6200830679267345445[32] = 0; + out_6200830679267345445[33] = 0; + out_6200830679267345445[34] = 0; + out_6200830679267345445[35] = 0; + out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[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_6200830679267345445[39] = 0; + out_6200830679267345445[40] = 0; + out_6200830679267345445[41] = 0; + out_6200830679267345445[42] = 0; + out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[45] = 0; + out_6200830679267345445[46] = 0; + out_6200830679267345445[47] = 0; + out_6200830679267345445[48] = 0; + out_6200830679267345445[49] = 0; + out_6200830679267345445[50] = 0; + out_6200830679267345445[51] = 0; + out_6200830679267345445[52] = 0; + out_6200830679267345445[53] = 0; + out_6200830679267345445[54] = 0; + out_6200830679267345445[55] = 0; + out_6200830679267345445[56] = 0; + out_6200830679267345445[57] = 1; + out_6200830679267345445[58] = 0; + out_6200830679267345445[59] = 0; + out_6200830679267345445[60] = 0; + out_6200830679267345445[61] = 0; + out_6200830679267345445[62] = 0; + out_6200830679267345445[63] = 0; + out_6200830679267345445[64] = 0; + out_6200830679267345445[65] = 0; + out_6200830679267345445[66] = dt; + out_6200830679267345445[67] = 0; + out_6200830679267345445[68] = 0; + out_6200830679267345445[69] = 0; + out_6200830679267345445[70] = 0; + out_6200830679267345445[71] = 0; + out_6200830679267345445[72] = 0; + out_6200830679267345445[73] = 0; + out_6200830679267345445[74] = 0; + out_6200830679267345445[75] = 0; + out_6200830679267345445[76] = 1; + out_6200830679267345445[77] = 0; + out_6200830679267345445[78] = 0; + out_6200830679267345445[79] = 0; + out_6200830679267345445[80] = 0; + out_6200830679267345445[81] = 0; + out_6200830679267345445[82] = 0; + out_6200830679267345445[83] = 0; + out_6200830679267345445[84] = 0; + out_6200830679267345445[85] = dt; + out_6200830679267345445[86] = 0; + out_6200830679267345445[87] = 0; + out_6200830679267345445[88] = 0; + out_6200830679267345445[89] = 0; + out_6200830679267345445[90] = 0; + out_6200830679267345445[91] = 0; + out_6200830679267345445[92] = 0; + out_6200830679267345445[93] = 0; + out_6200830679267345445[94] = 0; + out_6200830679267345445[95] = 1; + out_6200830679267345445[96] = 0; + out_6200830679267345445[97] = 0; + out_6200830679267345445[98] = 0; + out_6200830679267345445[99] = 0; + out_6200830679267345445[100] = 0; + out_6200830679267345445[101] = 0; + out_6200830679267345445[102] = 0; + out_6200830679267345445[103] = 0; + out_6200830679267345445[104] = dt; + out_6200830679267345445[105] = 0; + out_6200830679267345445[106] = 0; + out_6200830679267345445[107] = 0; + out_6200830679267345445[108] = 0; + out_6200830679267345445[109] = 0; + out_6200830679267345445[110] = 0; + out_6200830679267345445[111] = 0; + out_6200830679267345445[112] = 0; + out_6200830679267345445[113] = 0; + out_6200830679267345445[114] = 1; + out_6200830679267345445[115] = 0; + out_6200830679267345445[116] = 0; + out_6200830679267345445[117] = 0; + out_6200830679267345445[118] = 0; + out_6200830679267345445[119] = 0; + out_6200830679267345445[120] = 0; + out_6200830679267345445[121] = 0; + out_6200830679267345445[122] = 0; + out_6200830679267345445[123] = 0; + out_6200830679267345445[124] = 0; + out_6200830679267345445[125] = 0; + out_6200830679267345445[126] = 0; + out_6200830679267345445[127] = 0; + out_6200830679267345445[128] = 0; + out_6200830679267345445[129] = 0; + out_6200830679267345445[130] = 0; + out_6200830679267345445[131] = 0; + out_6200830679267345445[132] = 0; + out_6200830679267345445[133] = 1; + out_6200830679267345445[134] = 0; + out_6200830679267345445[135] = 0; + out_6200830679267345445[136] = 0; + out_6200830679267345445[137] = 0; + out_6200830679267345445[138] = 0; + out_6200830679267345445[139] = 0; + out_6200830679267345445[140] = 0; + out_6200830679267345445[141] = 0; + out_6200830679267345445[142] = 0; + out_6200830679267345445[143] = 0; + out_6200830679267345445[144] = 0; + out_6200830679267345445[145] = 0; + out_6200830679267345445[146] = 0; + out_6200830679267345445[147] = 0; + out_6200830679267345445[148] = 0; + out_6200830679267345445[149] = 0; + out_6200830679267345445[150] = 0; + out_6200830679267345445[151] = 0; + out_6200830679267345445[152] = 1; + out_6200830679267345445[153] = 0; + out_6200830679267345445[154] = 0; + out_6200830679267345445[155] = 0; + out_6200830679267345445[156] = 0; + out_6200830679267345445[157] = 0; + out_6200830679267345445[158] = 0; + out_6200830679267345445[159] = 0; + out_6200830679267345445[160] = 0; + out_6200830679267345445[161] = 0; + out_6200830679267345445[162] = 0; + out_6200830679267345445[163] = 0; + out_6200830679267345445[164] = 0; + out_6200830679267345445[165] = 0; + out_6200830679267345445[166] = 0; + out_6200830679267345445[167] = 0; + out_6200830679267345445[168] = 0; + out_6200830679267345445[169] = 0; + out_6200830679267345445[170] = 0; + out_6200830679267345445[171] = 1; + out_6200830679267345445[172] = 0; + out_6200830679267345445[173] = 0; + out_6200830679267345445[174] = 0; + out_6200830679267345445[175] = 0; + out_6200830679267345445[176] = 0; + out_6200830679267345445[177] = 0; + out_6200830679267345445[178] = 0; + out_6200830679267345445[179] = 0; + out_6200830679267345445[180] = 0; + out_6200830679267345445[181] = 0; + out_6200830679267345445[182] = 0; + out_6200830679267345445[183] = 0; + out_6200830679267345445[184] = 0; + out_6200830679267345445[185] = 0; + out_6200830679267345445[186] = 0; + out_6200830679267345445[187] = 0; + out_6200830679267345445[188] = 0; + out_6200830679267345445[189] = 0; + out_6200830679267345445[190] = 1; + out_6200830679267345445[191] = 0; + out_6200830679267345445[192] = 0; + out_6200830679267345445[193] = 0; + out_6200830679267345445[194] = 0; + out_6200830679267345445[195] = 0; + out_6200830679267345445[196] = 0; + out_6200830679267345445[197] = 0; + out_6200830679267345445[198] = 0; + out_6200830679267345445[199] = 0; + out_6200830679267345445[200] = 0; + out_6200830679267345445[201] = 0; + out_6200830679267345445[202] = 0; + out_6200830679267345445[203] = 0; + out_6200830679267345445[204] = 0; + out_6200830679267345445[205] = 0; + out_6200830679267345445[206] = 0; + out_6200830679267345445[207] = 0; + out_6200830679267345445[208] = 0; + out_6200830679267345445[209] = 1; + out_6200830679267345445[210] = 0; + out_6200830679267345445[211] = 0; + out_6200830679267345445[212] = 0; + out_6200830679267345445[213] = 0; + out_6200830679267345445[214] = 0; + out_6200830679267345445[215] = 0; + out_6200830679267345445[216] = 0; + out_6200830679267345445[217] = 0; + out_6200830679267345445[218] = 0; + out_6200830679267345445[219] = 0; + out_6200830679267345445[220] = 0; + out_6200830679267345445[221] = 0; + out_6200830679267345445[222] = 0; + out_6200830679267345445[223] = 0; + out_6200830679267345445[224] = 0; + out_6200830679267345445[225] = 0; + out_6200830679267345445[226] = 0; + out_6200830679267345445[227] = 0; + out_6200830679267345445[228] = 1; + out_6200830679267345445[229] = 0; + out_6200830679267345445[230] = 0; + out_6200830679267345445[231] = 0; + out_6200830679267345445[232] = 0; + out_6200830679267345445[233] = 0; + out_6200830679267345445[234] = 0; + out_6200830679267345445[235] = 0; + out_6200830679267345445[236] = 0; + out_6200830679267345445[237] = 0; + out_6200830679267345445[238] = 0; + out_6200830679267345445[239] = 0; + out_6200830679267345445[240] = 0; + out_6200830679267345445[241] = 0; + out_6200830679267345445[242] = 0; + out_6200830679267345445[243] = 0; + out_6200830679267345445[244] = 0; + out_6200830679267345445[245] = 0; + out_6200830679267345445[246] = 0; + out_6200830679267345445[247] = 1; + out_6200830679267345445[248] = 0; + out_6200830679267345445[249] = 0; + out_6200830679267345445[250] = 0; + out_6200830679267345445[251] = 0; + out_6200830679267345445[252] = 0; + out_6200830679267345445[253] = 0; + out_6200830679267345445[254] = 0; + out_6200830679267345445[255] = 0; + out_6200830679267345445[256] = 0; + out_6200830679267345445[257] = 0; + out_6200830679267345445[258] = 0; + out_6200830679267345445[259] = 0; + out_6200830679267345445[260] = 0; + out_6200830679267345445[261] = 0; + out_6200830679267345445[262] = 0; + out_6200830679267345445[263] = 0; + out_6200830679267345445[264] = 0; + out_6200830679267345445[265] = 0; + out_6200830679267345445[266] = 1; + out_6200830679267345445[267] = 0; + out_6200830679267345445[268] = 0; + out_6200830679267345445[269] = 0; + out_6200830679267345445[270] = 0; + out_6200830679267345445[271] = 0; + out_6200830679267345445[272] = 0; + out_6200830679267345445[273] = 0; + out_6200830679267345445[274] = 0; + out_6200830679267345445[275] = 0; + out_6200830679267345445[276] = 0; + out_6200830679267345445[277] = 0; + out_6200830679267345445[278] = 0; + out_6200830679267345445[279] = 0; + out_6200830679267345445[280] = 0; + out_6200830679267345445[281] = 0; + out_6200830679267345445[282] = 0; + out_6200830679267345445[283] = 0; + out_6200830679267345445[284] = 0; + out_6200830679267345445[285] = 1; + out_6200830679267345445[286] = 0; + out_6200830679267345445[287] = 0; + out_6200830679267345445[288] = 0; + out_6200830679267345445[289] = 0; + out_6200830679267345445[290] = 0; + out_6200830679267345445[291] = 0; + out_6200830679267345445[292] = 0; + out_6200830679267345445[293] = 0; + out_6200830679267345445[294] = 0; + out_6200830679267345445[295] = 0; + out_6200830679267345445[296] = 0; + out_6200830679267345445[297] = 0; + out_6200830679267345445[298] = 0; + out_6200830679267345445[299] = 0; + out_6200830679267345445[300] = 0; + out_6200830679267345445[301] = 0; + out_6200830679267345445[302] = 0; + out_6200830679267345445[303] = 0; + out_6200830679267345445[304] = 1; + out_6200830679267345445[305] = 0; + out_6200830679267345445[306] = 0; + out_6200830679267345445[307] = 0; + out_6200830679267345445[308] = 0; + out_6200830679267345445[309] = 0; + out_6200830679267345445[310] = 0; + out_6200830679267345445[311] = 0; + out_6200830679267345445[312] = 0; + out_6200830679267345445[313] = 0; + out_6200830679267345445[314] = 0; + out_6200830679267345445[315] = 0; + out_6200830679267345445[316] = 0; + out_6200830679267345445[317] = 0; + out_6200830679267345445[318] = 0; + out_6200830679267345445[319] = 0; + out_6200830679267345445[320] = 0; + out_6200830679267345445[321] = 0; + out_6200830679267345445[322] = 0; + out_6200830679267345445[323] = 1; } -void h_4(double *state, double *unused, double *out_8728651807226544018) { - out_8728651807226544018[0] = state[6] + state[9]; - out_8728651807226544018[1] = state[7] + state[10]; - out_8728651807226544018[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2281311047032518481) { + out_2281311047032518481[0] = state[6] + state[9]; + out_2281311047032518481[1] = state[7] + state[10]; + out_2281311047032518481[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5315696800103384324) { - out_5315696800103384324[0] = 0; - out_5315696800103384324[1] = 0; - out_5315696800103384324[2] = 0; - out_5315696800103384324[3] = 0; - out_5315696800103384324[4] = 0; - out_5315696800103384324[5] = 0; - out_5315696800103384324[6] = 1; - out_5315696800103384324[7] = 0; - out_5315696800103384324[8] = 0; - out_5315696800103384324[9] = 1; - out_5315696800103384324[10] = 0; - out_5315696800103384324[11] = 0; - out_5315696800103384324[12] = 0; - out_5315696800103384324[13] = 0; - out_5315696800103384324[14] = 0; - out_5315696800103384324[15] = 0; - out_5315696800103384324[16] = 0; - out_5315696800103384324[17] = 0; - out_5315696800103384324[18] = 0; - out_5315696800103384324[19] = 0; - out_5315696800103384324[20] = 0; - out_5315696800103384324[21] = 0; - out_5315696800103384324[22] = 0; - out_5315696800103384324[23] = 0; - out_5315696800103384324[24] = 0; - out_5315696800103384324[25] = 1; - out_5315696800103384324[26] = 0; - out_5315696800103384324[27] = 0; - out_5315696800103384324[28] = 1; - out_5315696800103384324[29] = 0; - out_5315696800103384324[30] = 0; - out_5315696800103384324[31] = 0; - out_5315696800103384324[32] = 0; - out_5315696800103384324[33] = 0; - out_5315696800103384324[34] = 0; - out_5315696800103384324[35] = 0; - out_5315696800103384324[36] = 0; - out_5315696800103384324[37] = 0; - out_5315696800103384324[38] = 0; - out_5315696800103384324[39] = 0; - out_5315696800103384324[40] = 0; - out_5315696800103384324[41] = 0; - out_5315696800103384324[42] = 0; - out_5315696800103384324[43] = 0; - out_5315696800103384324[44] = 1; - out_5315696800103384324[45] = 0; - out_5315696800103384324[46] = 0; - out_5315696800103384324[47] = 1; - out_5315696800103384324[48] = 0; - out_5315696800103384324[49] = 0; - out_5315696800103384324[50] = 0; - out_5315696800103384324[51] = 0; - out_5315696800103384324[52] = 0; - out_5315696800103384324[53] = 0; +void H_4(double *state, double *unused, double *out_1022733465120271490) { + out_1022733465120271490[0] = 0; + out_1022733465120271490[1] = 0; + out_1022733465120271490[2] = 0; + out_1022733465120271490[3] = 0; + out_1022733465120271490[4] = 0; + out_1022733465120271490[5] = 0; + out_1022733465120271490[6] = 1; + out_1022733465120271490[7] = 0; + out_1022733465120271490[8] = 0; + out_1022733465120271490[9] = 1; + out_1022733465120271490[10] = 0; + out_1022733465120271490[11] = 0; + out_1022733465120271490[12] = 0; + out_1022733465120271490[13] = 0; + out_1022733465120271490[14] = 0; + out_1022733465120271490[15] = 0; + out_1022733465120271490[16] = 0; + out_1022733465120271490[17] = 0; + out_1022733465120271490[18] = 0; + out_1022733465120271490[19] = 0; + out_1022733465120271490[20] = 0; + out_1022733465120271490[21] = 0; + out_1022733465120271490[22] = 0; + out_1022733465120271490[23] = 0; + out_1022733465120271490[24] = 0; + out_1022733465120271490[25] = 1; + out_1022733465120271490[26] = 0; + out_1022733465120271490[27] = 0; + out_1022733465120271490[28] = 1; + out_1022733465120271490[29] = 0; + out_1022733465120271490[30] = 0; + out_1022733465120271490[31] = 0; + out_1022733465120271490[32] = 0; + out_1022733465120271490[33] = 0; + out_1022733465120271490[34] = 0; + out_1022733465120271490[35] = 0; + out_1022733465120271490[36] = 0; + out_1022733465120271490[37] = 0; + out_1022733465120271490[38] = 0; + out_1022733465120271490[39] = 0; + out_1022733465120271490[40] = 0; + out_1022733465120271490[41] = 0; + out_1022733465120271490[42] = 0; + out_1022733465120271490[43] = 0; + out_1022733465120271490[44] = 1; + out_1022733465120271490[45] = 0; + out_1022733465120271490[46] = 0; + out_1022733465120271490[47] = 1; + out_1022733465120271490[48] = 0; + out_1022733465120271490[49] = 0; + out_1022733465120271490[50] = 0; + out_1022733465120271490[51] = 0; + out_1022733465120271490[52] = 0; + out_1022733465120271490[53] = 0; } -void h_10(double *state, double *unused, double *out_3679201747496490736) { - out_3679201747496490736[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3679201747496490736[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3679201747496490736[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_7298821485634386065) { + out_7298821485634386065[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7298821485634386065[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7298821485634386065[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_2420796569664890088) { - out_2420796569664890088[0] = 0; - out_2420796569664890088[1] = 9.8100000000000005*cos(state[1]); - out_2420796569664890088[2] = 0; - out_2420796569664890088[3] = 0; - out_2420796569664890088[4] = -state[8]; - out_2420796569664890088[5] = state[7]; - out_2420796569664890088[6] = 0; - out_2420796569664890088[7] = state[5]; - out_2420796569664890088[8] = -state[4]; - out_2420796569664890088[9] = 0; - out_2420796569664890088[10] = 0; - out_2420796569664890088[11] = 0; - out_2420796569664890088[12] = 1; - out_2420796569664890088[13] = 0; - out_2420796569664890088[14] = 0; - out_2420796569664890088[15] = 1; - out_2420796569664890088[16] = 0; - out_2420796569664890088[17] = 0; - out_2420796569664890088[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2420796569664890088[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2420796569664890088[20] = 0; - out_2420796569664890088[21] = state[8]; - out_2420796569664890088[22] = 0; - out_2420796569664890088[23] = -state[6]; - out_2420796569664890088[24] = -state[5]; - out_2420796569664890088[25] = 0; - out_2420796569664890088[26] = state[3]; - out_2420796569664890088[27] = 0; - out_2420796569664890088[28] = 0; - out_2420796569664890088[29] = 0; - out_2420796569664890088[30] = 0; - out_2420796569664890088[31] = 1; - out_2420796569664890088[32] = 0; - out_2420796569664890088[33] = 0; - out_2420796569664890088[34] = 1; - out_2420796569664890088[35] = 0; - out_2420796569664890088[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2420796569664890088[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2420796569664890088[38] = 0; - out_2420796569664890088[39] = -state[7]; - out_2420796569664890088[40] = state[6]; - out_2420796569664890088[41] = 0; - out_2420796569664890088[42] = state[4]; - out_2420796569664890088[43] = -state[3]; - out_2420796569664890088[44] = 0; - out_2420796569664890088[45] = 0; - out_2420796569664890088[46] = 0; - out_2420796569664890088[47] = 0; - out_2420796569664890088[48] = 0; - out_2420796569664890088[49] = 0; - out_2420796569664890088[50] = 1; - out_2420796569664890088[51] = 0; - out_2420796569664890088[52] = 0; - out_2420796569664890088[53] = 1; +void H_10(double *state, double *unused, double *out_4580916266697147042) { + out_4580916266697147042[0] = 0; + out_4580916266697147042[1] = 9.8100000000000005*cos(state[1]); + out_4580916266697147042[2] = 0; + out_4580916266697147042[3] = 0; + out_4580916266697147042[4] = -state[8]; + out_4580916266697147042[5] = state[7]; + out_4580916266697147042[6] = 0; + out_4580916266697147042[7] = state[5]; + out_4580916266697147042[8] = -state[4]; + out_4580916266697147042[9] = 0; + out_4580916266697147042[10] = 0; + out_4580916266697147042[11] = 0; + out_4580916266697147042[12] = 1; + out_4580916266697147042[13] = 0; + out_4580916266697147042[14] = 0; + out_4580916266697147042[15] = 1; + out_4580916266697147042[16] = 0; + out_4580916266697147042[17] = 0; + out_4580916266697147042[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_4580916266697147042[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_4580916266697147042[20] = 0; + out_4580916266697147042[21] = state[8]; + out_4580916266697147042[22] = 0; + out_4580916266697147042[23] = -state[6]; + out_4580916266697147042[24] = -state[5]; + out_4580916266697147042[25] = 0; + out_4580916266697147042[26] = state[3]; + out_4580916266697147042[27] = 0; + out_4580916266697147042[28] = 0; + out_4580916266697147042[29] = 0; + out_4580916266697147042[30] = 0; + out_4580916266697147042[31] = 1; + out_4580916266697147042[32] = 0; + out_4580916266697147042[33] = 0; + out_4580916266697147042[34] = 1; + out_4580916266697147042[35] = 0; + out_4580916266697147042[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_4580916266697147042[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_4580916266697147042[38] = 0; + out_4580916266697147042[39] = -state[7]; + out_4580916266697147042[40] = state[6]; + out_4580916266697147042[41] = 0; + out_4580916266697147042[42] = state[4]; + out_4580916266697147042[43] = -state[3]; + out_4580916266697147042[44] = 0; + out_4580916266697147042[45] = 0; + out_4580916266697147042[46] = 0; + out_4580916266697147042[47] = 0; + out_4580916266697147042[48] = 0; + out_4580916266697147042[49] = 0; + out_4580916266697147042[50] = 1; + out_4580916266697147042[51] = 0; + out_4580916266697147042[52] = 0; + out_4580916266697147042[53] = 1; } -void h_13(double *state, double *unused, double *out_4772104686591378688) { - out_4772104686591378688[0] = state[3]; - out_4772104686591378688[1] = state[4]; - out_4772104686591378688[2] = state[5]; +void h_13(double *state, double *unused, double *out_1884508169225221663) { + out_1884508169225221663[0] = state[3]; + out_1884508169225221663[1] = state[4]; + out_1884508169225221663[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2103422974771051523) { - out_2103422974771051523[0] = 0; - out_2103422974771051523[1] = 0; - out_2103422974771051523[2] = 0; - out_2103422974771051523[3] = 1; - out_2103422974771051523[4] = 0; - out_2103422974771051523[5] = 0; - out_2103422974771051523[6] = 0; - out_2103422974771051523[7] = 0; - out_2103422974771051523[8] = 0; - out_2103422974771051523[9] = 0; - out_2103422974771051523[10] = 0; - out_2103422974771051523[11] = 0; - out_2103422974771051523[12] = 0; - out_2103422974771051523[13] = 0; - out_2103422974771051523[14] = 0; - out_2103422974771051523[15] = 0; - out_2103422974771051523[16] = 0; - out_2103422974771051523[17] = 0; - out_2103422974771051523[18] = 0; - out_2103422974771051523[19] = 0; - out_2103422974771051523[20] = 0; - out_2103422974771051523[21] = 0; - out_2103422974771051523[22] = 1; - out_2103422974771051523[23] = 0; - out_2103422974771051523[24] = 0; - out_2103422974771051523[25] = 0; - out_2103422974771051523[26] = 0; - out_2103422974771051523[27] = 0; - out_2103422974771051523[28] = 0; - out_2103422974771051523[29] = 0; - out_2103422974771051523[30] = 0; - out_2103422974771051523[31] = 0; - out_2103422974771051523[32] = 0; - out_2103422974771051523[33] = 0; - out_2103422974771051523[34] = 0; - out_2103422974771051523[35] = 0; - out_2103422974771051523[36] = 0; - out_2103422974771051523[37] = 0; - out_2103422974771051523[38] = 0; - out_2103422974771051523[39] = 0; - out_2103422974771051523[40] = 0; - out_2103422974771051523[41] = 1; - out_2103422974771051523[42] = 0; - out_2103422974771051523[43] = 0; - out_2103422974771051523[44] = 0; - out_2103422974771051523[45] = 0; - out_2103422974771051523[46] = 0; - out_2103422974771051523[47] = 0; - out_2103422974771051523[48] = 0; - out_2103422974771051523[49] = 0; - out_2103422974771051523[50] = 0; - out_2103422974771051523[51] = 0; - out_2103422974771051523[52] = 0; - out_2103422974771051523[53] = 0; +void H_13(double *state, double *unused, double *out_2189540360212061311) { + out_2189540360212061311[0] = 0; + out_2189540360212061311[1] = 0; + out_2189540360212061311[2] = 0; + out_2189540360212061311[3] = 1; + out_2189540360212061311[4] = 0; + out_2189540360212061311[5] = 0; + out_2189540360212061311[6] = 0; + out_2189540360212061311[7] = 0; + out_2189540360212061311[8] = 0; + out_2189540360212061311[9] = 0; + out_2189540360212061311[10] = 0; + out_2189540360212061311[11] = 0; + out_2189540360212061311[12] = 0; + out_2189540360212061311[13] = 0; + out_2189540360212061311[14] = 0; + out_2189540360212061311[15] = 0; + out_2189540360212061311[16] = 0; + out_2189540360212061311[17] = 0; + out_2189540360212061311[18] = 0; + out_2189540360212061311[19] = 0; + out_2189540360212061311[20] = 0; + out_2189540360212061311[21] = 0; + out_2189540360212061311[22] = 1; + out_2189540360212061311[23] = 0; + out_2189540360212061311[24] = 0; + out_2189540360212061311[25] = 0; + out_2189540360212061311[26] = 0; + out_2189540360212061311[27] = 0; + out_2189540360212061311[28] = 0; + out_2189540360212061311[29] = 0; + out_2189540360212061311[30] = 0; + out_2189540360212061311[31] = 0; + out_2189540360212061311[32] = 0; + out_2189540360212061311[33] = 0; + out_2189540360212061311[34] = 0; + out_2189540360212061311[35] = 0; + out_2189540360212061311[36] = 0; + out_2189540360212061311[37] = 0; + out_2189540360212061311[38] = 0; + out_2189540360212061311[39] = 0; + out_2189540360212061311[40] = 0; + out_2189540360212061311[41] = 1; + out_2189540360212061311[42] = 0; + out_2189540360212061311[43] = 0; + out_2189540360212061311[44] = 0; + out_2189540360212061311[45] = 0; + out_2189540360212061311[46] = 0; + out_2189540360212061311[47] = 0; + out_2189540360212061311[48] = 0; + out_2189540360212061311[49] = 0; + out_2189540360212061311[50] = 0; + out_2189540360212061311[51] = 0; + out_2189540360212061311[52] = 0; + out_2189540360212061311[53] = 0; } -void h_14(double *state, double *unused, double *out_3663326241180753804) { - out_3663326241180753804[0] = state[6]; - out_3663326241180753804[1] = state[7]; - out_3663326241180753804[2] = state[8]; +void h_14(double *state, double *unused, double *out_1873182816391455999) { + out_1873182816391455999[0] = state[6]; + out_1873182816391455999[1] = state[7]; + out_1873182816391455999[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1352455943763899795) { - out_1352455943763899795[0] = 0; - out_1352455943763899795[1] = 0; - out_1352455943763899795[2] = 0; - out_1352455943763899795[3] = 0; - out_1352455943763899795[4] = 0; - out_1352455943763899795[5] = 0; - out_1352455943763899795[6] = 1; - out_1352455943763899795[7] = 0; - out_1352455943763899795[8] = 0; - out_1352455943763899795[9] = 0; - out_1352455943763899795[10] = 0; - out_1352455943763899795[11] = 0; - out_1352455943763899795[12] = 0; - out_1352455943763899795[13] = 0; - out_1352455943763899795[14] = 0; - out_1352455943763899795[15] = 0; - out_1352455943763899795[16] = 0; - out_1352455943763899795[17] = 0; - out_1352455943763899795[18] = 0; - out_1352455943763899795[19] = 0; - out_1352455943763899795[20] = 0; - out_1352455943763899795[21] = 0; - out_1352455943763899795[22] = 0; - out_1352455943763899795[23] = 0; - out_1352455943763899795[24] = 0; - out_1352455943763899795[25] = 1; - out_1352455943763899795[26] = 0; - out_1352455943763899795[27] = 0; - out_1352455943763899795[28] = 0; - out_1352455943763899795[29] = 0; - out_1352455943763899795[30] = 0; - out_1352455943763899795[31] = 0; - out_1352455943763899795[32] = 0; - out_1352455943763899795[33] = 0; - out_1352455943763899795[34] = 0; - out_1352455943763899795[35] = 0; - out_1352455943763899795[36] = 0; - out_1352455943763899795[37] = 0; - out_1352455943763899795[38] = 0; - out_1352455943763899795[39] = 0; - out_1352455943763899795[40] = 0; - out_1352455943763899795[41] = 0; - out_1352455943763899795[42] = 0; - out_1352455943763899795[43] = 0; - out_1352455943763899795[44] = 1; - out_1352455943763899795[45] = 0; - out_1352455943763899795[46] = 0; - out_1352455943763899795[47] = 0; - out_1352455943763899795[48] = 0; - out_1352455943763899795[49] = 0; - out_1352455943763899795[50] = 0; - out_1352455943763899795[51] = 0; - out_1352455943763899795[52] = 0; - out_1352455943763899795[53] = 0; +void H_14(double *state, double *unused, double *out_2940507391219213039) { + out_2940507391219213039[0] = 0; + out_2940507391219213039[1] = 0; + out_2940507391219213039[2] = 0; + out_2940507391219213039[3] = 0; + out_2940507391219213039[4] = 0; + out_2940507391219213039[5] = 0; + out_2940507391219213039[6] = 1; + out_2940507391219213039[7] = 0; + out_2940507391219213039[8] = 0; + out_2940507391219213039[9] = 0; + out_2940507391219213039[10] = 0; + out_2940507391219213039[11] = 0; + out_2940507391219213039[12] = 0; + out_2940507391219213039[13] = 0; + out_2940507391219213039[14] = 0; + out_2940507391219213039[15] = 0; + out_2940507391219213039[16] = 0; + out_2940507391219213039[17] = 0; + out_2940507391219213039[18] = 0; + out_2940507391219213039[19] = 0; + out_2940507391219213039[20] = 0; + out_2940507391219213039[21] = 0; + out_2940507391219213039[22] = 0; + out_2940507391219213039[23] = 0; + out_2940507391219213039[24] = 0; + out_2940507391219213039[25] = 1; + out_2940507391219213039[26] = 0; + out_2940507391219213039[27] = 0; + out_2940507391219213039[28] = 0; + out_2940507391219213039[29] = 0; + out_2940507391219213039[30] = 0; + out_2940507391219213039[31] = 0; + out_2940507391219213039[32] = 0; + out_2940507391219213039[33] = 0; + out_2940507391219213039[34] = 0; + out_2940507391219213039[35] = 0; + out_2940507391219213039[36] = 0; + out_2940507391219213039[37] = 0; + out_2940507391219213039[38] = 0; + out_2940507391219213039[39] = 0; + out_2940507391219213039[40] = 0; + out_2940507391219213039[41] = 0; + out_2940507391219213039[42] = 0; + out_2940507391219213039[43] = 0; + out_2940507391219213039[44] = 1; + out_2940507391219213039[45] = 0; + out_2940507391219213039[46] = 0; + out_2940507391219213039[47] = 0; + out_2940507391219213039[48] = 0; + out_2940507391219213039[49] = 0; + out_2940507391219213039[50] = 0; + out_2940507391219213039[51] = 0; + out_2940507391219213039[52] = 0; + out_2940507391219213039[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_1527400177482295711) { - err_fun(nom_x, delta_x, out_1527400177482295711); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3037457306540495367) { + err_fun(nom_x, delta_x, out_3037457306540495367); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7620805951199866590) { - inv_err_fun(nom_x, true_x, out_7620805951199866590); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146) { + inv_err_fun(nom_x, true_x, out_5504742843249496146); } -void pose_H_mod_fun(double *state, double *out_2041474721312435071) { - H_mod_fun(state, out_2041474721312435071); +void pose_H_mod_fun(double *state, double *out_4825348341631687231) { + H_mod_fun(state, out_4825348341631687231); } -void pose_f_fun(double *state, double dt, double *out_3319995548118437592) { - f_fun(state, dt, out_3319995548118437592); +void pose_f_fun(double *state, double dt, double *out_6515554172087681296) { + f_fun(state, dt, out_6515554172087681296); } -void pose_F_fun(double *state, double dt, double *out_1297884238983223646) { - F_fun(state, dt, out_1297884238983223646); +void pose_F_fun(double *state, double dt, double *out_6200830679267345445) { + F_fun(state, dt, out_6200830679267345445); } -void pose_h_4(double *state, double *unused, double *out_8728651807226544018) { - h_4(state, unused, out_8728651807226544018); +void pose_h_4(double *state, double *unused, double *out_2281311047032518481) { + h_4(state, unused, out_2281311047032518481); } -void pose_H_4(double *state, double *unused, double *out_5315696800103384324) { - H_4(state, unused, out_5315696800103384324); +void pose_H_4(double *state, double *unused, double *out_1022733465120271490) { + H_4(state, unused, out_1022733465120271490); } -void pose_h_10(double *state, double *unused, double *out_3679201747496490736) { - h_10(state, unused, out_3679201747496490736); +void pose_h_10(double *state, double *unused, double *out_7298821485634386065) { + h_10(state, unused, out_7298821485634386065); } -void pose_H_10(double *state, double *unused, double *out_2420796569664890088) { - H_10(state, unused, out_2420796569664890088); +void pose_H_10(double *state, double *unused, double *out_4580916266697147042) { + H_10(state, unused, out_4580916266697147042); } -void pose_h_13(double *state, double *unused, double *out_4772104686591378688) { - h_13(state, unused, out_4772104686591378688); +void pose_h_13(double *state, double *unused, double *out_1884508169225221663) { + h_13(state, unused, out_1884508169225221663); } -void pose_H_13(double *state, double *unused, double *out_2103422974771051523) { - H_13(state, unused, out_2103422974771051523); +void pose_H_13(double *state, double *unused, double *out_2189540360212061311) { + H_13(state, unused, out_2189540360212061311); } -void pose_h_14(double *state, double *unused, double *out_3663326241180753804) { - h_14(state, unused, out_3663326241180753804); +void pose_h_14(double *state, double *unused, double *out_1873182816391455999) { + h_14(state, unused, out_1873182816391455999); } -void pose_H_14(double *state, double *unused, double *out_1352455943763899795) { - H_14(state, unused, out_1352455943763899795); +void pose_H_14(double *state, double *unused, double *out_2940507391219213039) { + H_14(state, unused, out_2940507391219213039); } 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 f862c8930..075735d0c 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_1527400177482295711); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7620805951199866590); -void pose_H_mod_fun(double *state, double *out_2041474721312435071); -void pose_f_fun(double *state, double dt, double *out_3319995548118437592); -void pose_F_fun(double *state, double dt, double *out_1297884238983223646); -void pose_h_4(double *state, double *unused, double *out_8728651807226544018); -void pose_H_4(double *state, double *unused, double *out_5315696800103384324); -void pose_h_10(double *state, double *unused, double *out_3679201747496490736); -void pose_H_10(double *state, double *unused, double *out_2420796569664890088); -void pose_h_13(double *state, double *unused, double *out_4772104686591378688); -void pose_H_13(double *state, double *unused, double *out_2103422974771051523); -void pose_h_14(double *state, double *unused, double *out_3663326241180753804); -void pose_H_14(double *state, double *unused, double *out_1352455943763899795); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3037457306540495367); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146); +void pose_H_mod_fun(double *state, double *out_4825348341631687231); +void pose_f_fun(double *state, double dt, double *out_6515554172087681296); +void pose_F_fun(double *state, double dt, double *out_6200830679267345445); +void pose_h_4(double *state, double *unused, double *out_2281311047032518481); +void pose_H_4(double *state, double *unused, double *out_1022733465120271490); +void pose_h_10(double *state, double *unused, double *out_7298821485634386065); +void pose_H_10(double *state, double *unused, double *out_4580916266697147042); +void pose_h_13(double *state, double *unused, double *out_1884508169225221663); +void pose_H_13(double *state, double *unused, double *out_2189540360212061311); +void pose_h_14(double *state, double *unused, double *out_1873182816391455999); +void pose_H_14(double *state, double *unused, double *out_2940507391219213039); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index eec7292c2..a80ff970d 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 7ea12608b..46a85d859 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