diff --git a/common/libcommon.a b/common/libcommon.a index bbd5f8cf5..50f2ba3de 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index e9e3c60d6..f8c486627 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc index a942aebe5..8e73e2801 100644 --- a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc +++ b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc @@ -1497,6 +1497,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS SG_ LDA_BTN : 4|1@0+ (1,0) [0|1] "" XXX + SG_ RAY_LKAS_BTN : 0|2@1+ (1,0) [0|3] "" XXX BO_ 1426 LABEL11: 8 XXX SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 5e284cc35..7cf0e7250 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index d74763057..dacb43420 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index e519b9506..93726b742 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 85c6e656b..b50b6aa9b 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index baef3f8d4..69c091fcf 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 58d127502..d422b3e79 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index 58d127502..d422b3e79 100755 Binary files a/panda/board/obj/bootstub.panda_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index a1d950db0..07a09b756 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index a1d950db0..07a09b756 100755 Binary files a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index a1d950db0..07a09b756 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index a1d950db0..07a09b756 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index a1d950db0..07a09b756 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index a1d950db0..07a09b756 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 58d127502..d422b3e79 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 58d127502..d422b3e79 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 57283b9ae..3aedf325d 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 58d127502..d422b3e79 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 58d127502..d422b3e79 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 75029ec23..b81bc1578 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-b5ab54ab-DEBUG"; +const uint8_t gitversion[19] = "DEV-cec1a0fb-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 5ae8c008b..44e4a939b 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index e96a02d56..1a32aabf8 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index c2860bebf..ed37574eb 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 9e0d39da2..00781df10 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index 1aad4193c..c8938b8db 100644 Binary files a/panda/board/obj/panda_can_ignition_only.bin.signed and b/panda/board/obj/panda_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_can_ignition_only/bootstub.elf b/panda/board/obj/panda_can_ignition_only/bootstub.elf index 8a6a22714..02a94f9b2 100755 Binary files a/panda/board/obj/panda_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_can_ignition_only/main.bin b/panda/board/obj/panda_can_ignition_only/main.bin index 72ecc4da9..bf3126b90 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.bin and b/panda/board/obj/panda_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_can_ignition_only/main.elf b/panda/board/obj/panda_can_ignition_only/main.elf index 3245dd531..c6d08da18 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.elf and b/panda/board/obj/panda_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 5d6621beb..1aa2e66b4 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index 4eca13c1f..d721949b6 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 96b57e5af..57afea73f 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 7709f9d24..b21efbdfb 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_can_ignition_only.bin.signed index 48869f41c..130ff60b5 100644 Binary files a/panda/board/obj/panda_h7_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf index aac01ae20..4457fc13a 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.bin b/panda/board/obj/panda_h7_can_ignition_only/main.bin index 5c2456194..aea2a4f41 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.elf b/panda/board/obj/panda_h7_can_ignition_only/main.elf index b6c8e61a4..21031374f 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote.bin.signed b/panda/board/obj/panda_h7_hkg_remote.bin.signed index e57d136a6..682f2f6d0 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote.bin.signed and b/panda/board/obj/panda_h7_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf index d444e4018..349bcc7fd 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.bin b/panda/board/obj/panda_h7_hkg_remote/main.bin index 64b8f7e03..e2939a99e 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.bin and b/panda/board/obj/panda_h7_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.elf b/panda/board/obj/panda_h7_hkg_remote/main.elf index 8ad4b5bc1..24a04079c 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.elf and b/panda/board/obj/panda_h7_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed index 224c23fa4..475e48286 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf index 9208d7279..611417631 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin index d44707cb0..6ef3d601b 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf index 41453acbb..76ce5b6ae 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 60f69cdf5..3c9705f52 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index faf3e1e2e..c8fb546d6 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index 2ffcc74b8..ba30cdd74 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index d4d64ae7b..f5ec7527a 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed index a3a5504fd..18e7c4a74 100644 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf index 7b9e61ed9..906b21b52 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin index 07bd1e072..d51f14229 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf index d5bd27117..ad71e03b4 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote.bin.signed b/panda/board/obj/panda_hkg_remote.bin.signed index d499d2978..8ffd9ecbc 100644 Binary files a/panda/board/obj/panda_hkg_remote.bin.signed and b/panda/board/obj/panda_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote/bootstub.elf b/panda/board/obj/panda_hkg_remote/bootstub.elf index ebc9ddbf3..9d2a3a58d 100755 Binary files a/panda/board/obj/panda_hkg_remote/bootstub.elf and b/panda/board/obj/panda_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote/main.bin b/panda/board/obj/panda_hkg_remote/main.bin index de13aeabf..5aa6785fa 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.bin and b/panda/board/obj/panda_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote/main.elf b/panda/board/obj/panda_hkg_remote/main.elf index 2aa2f89a0..f18ec9342 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.elf and b/panda/board/obj/panda_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed index aedc1eb0d..254a75e30 100644 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf index 427cb68f7..922708f51 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin index 8c729107e..34db786cd 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf index 4788d06b5..3398e9d68 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index cfe7e009a..3cc4b7a81 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index 896a25d4a..46268ebad 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 1a994a1dc..2b2b6ddeb 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 3bd2a06b5..33dcded3e 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 218522332..21957ef4d 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index dafd877e1..c5375c884 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 29ce277c5..a3d55a083 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index c7940840e..e57d80278 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index c5c2b50a1..bfebb1d4c 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 39ecfe378..177297960 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index dfea27cf7..33750257a 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 33065b31a..dfef7a798 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 82a84cc8c..1d913710b 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-b5ab54ab-DEBUG \ No newline at end of file +DEV-cec1a0fb-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 6469f0f07..d7029f29c 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_4885896537278282144) { - out_4885896537278282144[0] = delta_x[0] + nom_x[0]; - out_4885896537278282144[1] = delta_x[1] + nom_x[1]; - out_4885896537278282144[2] = delta_x[2] + nom_x[2]; - out_4885896537278282144[3] = delta_x[3] + nom_x[3]; - out_4885896537278282144[4] = delta_x[4] + nom_x[4]; - out_4885896537278282144[5] = delta_x[5] + nom_x[5]; - out_4885896537278282144[6] = delta_x[6] + nom_x[6]; - out_4885896537278282144[7] = delta_x[7] + nom_x[7]; - out_4885896537278282144[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5825026556611430403) { + out_5825026556611430403[0] = delta_x[0] + nom_x[0]; + out_5825026556611430403[1] = delta_x[1] + nom_x[1]; + out_5825026556611430403[2] = delta_x[2] + nom_x[2]; + out_5825026556611430403[3] = delta_x[3] + nom_x[3]; + out_5825026556611430403[4] = delta_x[4] + nom_x[4]; + out_5825026556611430403[5] = delta_x[5] + nom_x[5]; + out_5825026556611430403[6] = delta_x[6] + nom_x[6]; + out_5825026556611430403[7] = delta_x[7] + nom_x[7]; + out_5825026556611430403[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3745151970403573209) { - out_3745151970403573209[0] = -nom_x[0] + true_x[0]; - out_3745151970403573209[1] = -nom_x[1] + true_x[1]; - out_3745151970403573209[2] = -nom_x[2] + true_x[2]; - out_3745151970403573209[3] = -nom_x[3] + true_x[3]; - out_3745151970403573209[4] = -nom_x[4] + true_x[4]; - out_3745151970403573209[5] = -nom_x[5] + true_x[5]; - out_3745151970403573209[6] = -nom_x[6] + true_x[6]; - out_3745151970403573209[7] = -nom_x[7] + true_x[7]; - out_3745151970403573209[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698) { + out_8876036798993240698[0] = -nom_x[0] + true_x[0]; + out_8876036798993240698[1] = -nom_x[1] + true_x[1]; + out_8876036798993240698[2] = -nom_x[2] + true_x[2]; + out_8876036798993240698[3] = -nom_x[3] + true_x[3]; + out_8876036798993240698[4] = -nom_x[4] + true_x[4]; + out_8876036798993240698[5] = -nom_x[5] + true_x[5]; + out_8876036798993240698[6] = -nom_x[6] + true_x[6]; + out_8876036798993240698[7] = -nom_x[7] + true_x[7]; + out_8876036798993240698[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_2937880372820632520) { - out_2937880372820632520[0] = 1.0; - out_2937880372820632520[1] = 0.0; - out_2937880372820632520[2] = 0.0; - out_2937880372820632520[3] = 0.0; - out_2937880372820632520[4] = 0.0; - out_2937880372820632520[5] = 0.0; - out_2937880372820632520[6] = 0.0; - out_2937880372820632520[7] = 0.0; - out_2937880372820632520[8] = 0.0; - out_2937880372820632520[9] = 0.0; - out_2937880372820632520[10] = 1.0; - out_2937880372820632520[11] = 0.0; - out_2937880372820632520[12] = 0.0; - out_2937880372820632520[13] = 0.0; - out_2937880372820632520[14] = 0.0; - out_2937880372820632520[15] = 0.0; - out_2937880372820632520[16] = 0.0; - out_2937880372820632520[17] = 0.0; - out_2937880372820632520[18] = 0.0; - out_2937880372820632520[19] = 0.0; - out_2937880372820632520[20] = 1.0; - out_2937880372820632520[21] = 0.0; - out_2937880372820632520[22] = 0.0; - out_2937880372820632520[23] = 0.0; - out_2937880372820632520[24] = 0.0; - out_2937880372820632520[25] = 0.0; - out_2937880372820632520[26] = 0.0; - out_2937880372820632520[27] = 0.0; - out_2937880372820632520[28] = 0.0; - out_2937880372820632520[29] = 0.0; - out_2937880372820632520[30] = 1.0; - out_2937880372820632520[31] = 0.0; - out_2937880372820632520[32] = 0.0; - out_2937880372820632520[33] = 0.0; - out_2937880372820632520[34] = 0.0; - out_2937880372820632520[35] = 0.0; - out_2937880372820632520[36] = 0.0; - out_2937880372820632520[37] = 0.0; - out_2937880372820632520[38] = 0.0; - out_2937880372820632520[39] = 0.0; - out_2937880372820632520[40] = 1.0; - out_2937880372820632520[41] = 0.0; - out_2937880372820632520[42] = 0.0; - out_2937880372820632520[43] = 0.0; - out_2937880372820632520[44] = 0.0; - out_2937880372820632520[45] = 0.0; - out_2937880372820632520[46] = 0.0; - out_2937880372820632520[47] = 0.0; - out_2937880372820632520[48] = 0.0; - out_2937880372820632520[49] = 0.0; - out_2937880372820632520[50] = 1.0; - out_2937880372820632520[51] = 0.0; - out_2937880372820632520[52] = 0.0; - out_2937880372820632520[53] = 0.0; - out_2937880372820632520[54] = 0.0; - out_2937880372820632520[55] = 0.0; - out_2937880372820632520[56] = 0.0; - out_2937880372820632520[57] = 0.0; - out_2937880372820632520[58] = 0.0; - out_2937880372820632520[59] = 0.0; - out_2937880372820632520[60] = 1.0; - out_2937880372820632520[61] = 0.0; - out_2937880372820632520[62] = 0.0; - out_2937880372820632520[63] = 0.0; - out_2937880372820632520[64] = 0.0; - out_2937880372820632520[65] = 0.0; - out_2937880372820632520[66] = 0.0; - out_2937880372820632520[67] = 0.0; - out_2937880372820632520[68] = 0.0; - out_2937880372820632520[69] = 0.0; - out_2937880372820632520[70] = 1.0; - out_2937880372820632520[71] = 0.0; - out_2937880372820632520[72] = 0.0; - out_2937880372820632520[73] = 0.0; - out_2937880372820632520[74] = 0.0; - out_2937880372820632520[75] = 0.0; - out_2937880372820632520[76] = 0.0; - out_2937880372820632520[77] = 0.0; - out_2937880372820632520[78] = 0.0; - out_2937880372820632520[79] = 0.0; - out_2937880372820632520[80] = 1.0; +void H_mod_fun(double *state, double *out_6203949078932441352) { + out_6203949078932441352[0] = 1.0; + out_6203949078932441352[1] = 0.0; + out_6203949078932441352[2] = 0.0; + out_6203949078932441352[3] = 0.0; + out_6203949078932441352[4] = 0.0; + out_6203949078932441352[5] = 0.0; + out_6203949078932441352[6] = 0.0; + out_6203949078932441352[7] = 0.0; + out_6203949078932441352[8] = 0.0; + out_6203949078932441352[9] = 0.0; + out_6203949078932441352[10] = 1.0; + out_6203949078932441352[11] = 0.0; + out_6203949078932441352[12] = 0.0; + out_6203949078932441352[13] = 0.0; + out_6203949078932441352[14] = 0.0; + out_6203949078932441352[15] = 0.0; + out_6203949078932441352[16] = 0.0; + out_6203949078932441352[17] = 0.0; + out_6203949078932441352[18] = 0.0; + out_6203949078932441352[19] = 0.0; + out_6203949078932441352[20] = 1.0; + out_6203949078932441352[21] = 0.0; + out_6203949078932441352[22] = 0.0; + out_6203949078932441352[23] = 0.0; + out_6203949078932441352[24] = 0.0; + out_6203949078932441352[25] = 0.0; + out_6203949078932441352[26] = 0.0; + out_6203949078932441352[27] = 0.0; + out_6203949078932441352[28] = 0.0; + out_6203949078932441352[29] = 0.0; + out_6203949078932441352[30] = 1.0; + out_6203949078932441352[31] = 0.0; + out_6203949078932441352[32] = 0.0; + out_6203949078932441352[33] = 0.0; + out_6203949078932441352[34] = 0.0; + out_6203949078932441352[35] = 0.0; + out_6203949078932441352[36] = 0.0; + out_6203949078932441352[37] = 0.0; + out_6203949078932441352[38] = 0.0; + out_6203949078932441352[39] = 0.0; + out_6203949078932441352[40] = 1.0; + out_6203949078932441352[41] = 0.0; + out_6203949078932441352[42] = 0.0; + out_6203949078932441352[43] = 0.0; + out_6203949078932441352[44] = 0.0; + out_6203949078932441352[45] = 0.0; + out_6203949078932441352[46] = 0.0; + out_6203949078932441352[47] = 0.0; + out_6203949078932441352[48] = 0.0; + out_6203949078932441352[49] = 0.0; + out_6203949078932441352[50] = 1.0; + out_6203949078932441352[51] = 0.0; + out_6203949078932441352[52] = 0.0; + out_6203949078932441352[53] = 0.0; + out_6203949078932441352[54] = 0.0; + out_6203949078932441352[55] = 0.0; + out_6203949078932441352[56] = 0.0; + out_6203949078932441352[57] = 0.0; + out_6203949078932441352[58] = 0.0; + out_6203949078932441352[59] = 0.0; + out_6203949078932441352[60] = 1.0; + out_6203949078932441352[61] = 0.0; + out_6203949078932441352[62] = 0.0; + out_6203949078932441352[63] = 0.0; + out_6203949078932441352[64] = 0.0; + out_6203949078932441352[65] = 0.0; + out_6203949078932441352[66] = 0.0; + out_6203949078932441352[67] = 0.0; + out_6203949078932441352[68] = 0.0; + out_6203949078932441352[69] = 0.0; + out_6203949078932441352[70] = 1.0; + out_6203949078932441352[71] = 0.0; + out_6203949078932441352[72] = 0.0; + out_6203949078932441352[73] = 0.0; + out_6203949078932441352[74] = 0.0; + out_6203949078932441352[75] = 0.0; + out_6203949078932441352[76] = 0.0; + out_6203949078932441352[77] = 0.0; + out_6203949078932441352[78] = 0.0; + out_6203949078932441352[79] = 0.0; + out_6203949078932441352[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4204558600518622219) { - out_4204558600518622219[0] = state[0]; - out_4204558600518622219[1] = state[1]; - out_4204558600518622219[2] = state[2]; - out_4204558600518622219[3] = state[3]; - out_4204558600518622219[4] = state[4]; - out_4204558600518622219[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_4204558600518622219[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_4204558600518622219[7] = state[7]; - out_4204558600518622219[8] = state[8]; +void f_fun(double *state, double dt, double *out_343822199527135251) { + out_343822199527135251[0] = state[0]; + out_343822199527135251[1] = state[1]; + out_343822199527135251[2] = state[2]; + out_343822199527135251[3] = state[3]; + out_343822199527135251[4] = state[4]; + out_343822199527135251[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_343822199527135251[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_343822199527135251[7] = state[7]; + out_343822199527135251[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3726788735705827984) { - out_3726788735705827984[0] = 1; - out_3726788735705827984[1] = 0; - out_3726788735705827984[2] = 0; - out_3726788735705827984[3] = 0; - out_3726788735705827984[4] = 0; - out_3726788735705827984[5] = 0; - out_3726788735705827984[6] = 0; - out_3726788735705827984[7] = 0; - out_3726788735705827984[8] = 0; - out_3726788735705827984[9] = 0; - out_3726788735705827984[10] = 1; - out_3726788735705827984[11] = 0; - out_3726788735705827984[12] = 0; - out_3726788735705827984[13] = 0; - out_3726788735705827984[14] = 0; - out_3726788735705827984[15] = 0; - out_3726788735705827984[16] = 0; - out_3726788735705827984[17] = 0; - out_3726788735705827984[18] = 0; - out_3726788735705827984[19] = 0; - out_3726788735705827984[20] = 1; - out_3726788735705827984[21] = 0; - out_3726788735705827984[22] = 0; - out_3726788735705827984[23] = 0; - out_3726788735705827984[24] = 0; - out_3726788735705827984[25] = 0; - out_3726788735705827984[26] = 0; - out_3726788735705827984[27] = 0; - out_3726788735705827984[28] = 0; - out_3726788735705827984[29] = 0; - out_3726788735705827984[30] = 1; - out_3726788735705827984[31] = 0; - out_3726788735705827984[32] = 0; - out_3726788735705827984[33] = 0; - out_3726788735705827984[34] = 0; - out_3726788735705827984[35] = 0; - out_3726788735705827984[36] = 0; - out_3726788735705827984[37] = 0; - out_3726788735705827984[38] = 0; - out_3726788735705827984[39] = 0; - out_3726788735705827984[40] = 1; - out_3726788735705827984[41] = 0; - out_3726788735705827984[42] = 0; - out_3726788735705827984[43] = 0; - out_3726788735705827984[44] = 0; - out_3726788735705827984[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_3726788735705827984[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3726788735705827984[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3726788735705827984[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3726788735705827984[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_3726788735705827984[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3726788735705827984[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3726788735705827984[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3726788735705827984[53] = -9.8100000000000005*dt; - out_3726788735705827984[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_3726788735705827984[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3726788735705827984[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3726788735705827984[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3726788735705827984[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_3726788735705827984[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3726788735705827984[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_3726788735705827984[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3726788735705827984[62] = 0; - out_3726788735705827984[63] = 0; - out_3726788735705827984[64] = 0; - out_3726788735705827984[65] = 0; - out_3726788735705827984[66] = 0; - out_3726788735705827984[67] = 0; - out_3726788735705827984[68] = 0; - out_3726788735705827984[69] = 0; - out_3726788735705827984[70] = 1; - out_3726788735705827984[71] = 0; - out_3726788735705827984[72] = 0; - out_3726788735705827984[73] = 0; - out_3726788735705827984[74] = 0; - out_3726788735705827984[75] = 0; - out_3726788735705827984[76] = 0; - out_3726788735705827984[77] = 0; - out_3726788735705827984[78] = 0; - out_3726788735705827984[79] = 0; - out_3726788735705827984[80] = 1; +void F_fun(double *state, double dt, double *out_7416815269748566643) { + out_7416815269748566643[0] = 1; + out_7416815269748566643[1] = 0; + out_7416815269748566643[2] = 0; + out_7416815269748566643[3] = 0; + out_7416815269748566643[4] = 0; + out_7416815269748566643[5] = 0; + out_7416815269748566643[6] = 0; + out_7416815269748566643[7] = 0; + out_7416815269748566643[8] = 0; + out_7416815269748566643[9] = 0; + out_7416815269748566643[10] = 1; + out_7416815269748566643[11] = 0; + out_7416815269748566643[12] = 0; + out_7416815269748566643[13] = 0; + out_7416815269748566643[14] = 0; + out_7416815269748566643[15] = 0; + out_7416815269748566643[16] = 0; + out_7416815269748566643[17] = 0; + out_7416815269748566643[18] = 0; + out_7416815269748566643[19] = 0; + out_7416815269748566643[20] = 1; + out_7416815269748566643[21] = 0; + out_7416815269748566643[22] = 0; + out_7416815269748566643[23] = 0; + out_7416815269748566643[24] = 0; + out_7416815269748566643[25] = 0; + out_7416815269748566643[26] = 0; + out_7416815269748566643[27] = 0; + out_7416815269748566643[28] = 0; + out_7416815269748566643[29] = 0; + out_7416815269748566643[30] = 1; + out_7416815269748566643[31] = 0; + out_7416815269748566643[32] = 0; + out_7416815269748566643[33] = 0; + out_7416815269748566643[34] = 0; + out_7416815269748566643[35] = 0; + out_7416815269748566643[36] = 0; + out_7416815269748566643[37] = 0; + out_7416815269748566643[38] = 0; + out_7416815269748566643[39] = 0; + out_7416815269748566643[40] = 1; + out_7416815269748566643[41] = 0; + out_7416815269748566643[42] = 0; + out_7416815269748566643[43] = 0; + out_7416815269748566643[44] = 0; + out_7416815269748566643[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_7416815269748566643[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7416815269748566643[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7416815269748566643[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7416815269748566643[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_7416815269748566643[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7416815269748566643[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7416815269748566643[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7416815269748566643[53] = -9.8100000000000005*dt; + out_7416815269748566643[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_7416815269748566643[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7416815269748566643[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7416815269748566643[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7416815269748566643[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_7416815269748566643[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7416815269748566643[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_7416815269748566643[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7416815269748566643[62] = 0; + out_7416815269748566643[63] = 0; + out_7416815269748566643[64] = 0; + out_7416815269748566643[65] = 0; + out_7416815269748566643[66] = 0; + out_7416815269748566643[67] = 0; + out_7416815269748566643[68] = 0; + out_7416815269748566643[69] = 0; + out_7416815269748566643[70] = 1; + out_7416815269748566643[71] = 0; + out_7416815269748566643[72] = 0; + out_7416815269748566643[73] = 0; + out_7416815269748566643[74] = 0; + out_7416815269748566643[75] = 0; + out_7416815269748566643[76] = 0; + out_7416815269748566643[77] = 0; + out_7416815269748566643[78] = 0; + out_7416815269748566643[79] = 0; + out_7416815269748566643[80] = 1; } -void h_25(double *state, double *unused, double *out_6349123496291746259) { - out_6349123496291746259[0] = state[6]; +void h_25(double *state, double *unused, double *out_8641933420137717402) { + out_8641933420137717402[0] = state[6]; } -void H_25(double *state, double *unused, double *out_7841572198005297360) { - out_7841572198005297360[0] = 0; - out_7841572198005297360[1] = 0; - out_7841572198005297360[2] = 0; - out_7841572198005297360[3] = 0; - out_7841572198005297360[4] = 0; - out_7841572198005297360[5] = 0; - out_7841572198005297360[6] = 1; - out_7841572198005297360[7] = 0; - out_7841572198005297360[8] = 0; +void H_25(double *state, double *unused, double *out_7339103169592445424) { + out_7339103169592445424[0] = 0; + out_7339103169592445424[1] = 0; + out_7339103169592445424[2] = 0; + out_7339103169592445424[3] = 0; + out_7339103169592445424[4] = 0; + out_7339103169592445424[5] = 0; + out_7339103169592445424[6] = 1; + out_7339103169592445424[7] = 0; + out_7339103169592445424[8] = 0; } -void h_24(double *state, double *unused, double *out_2774216340997546785) { - out_2774216340997546785[0] = state[4]; - out_2774216340997546785[1] = state[5]; +void h_24(double *state, double *unused, double *out_5501280400540853584) { + out_5501280400540853584[0] = state[4]; + out_5501280400540853584[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8427957452097104283) { - out_8427957452097104283[0] = 0; - out_8427957452097104283[1] = 0; - out_8427957452097104283[2] = 0; - out_8427957452097104283[3] = 0; - out_8427957452097104283[4] = 1; - out_8427957452097104283[5] = 0; - out_8427957452097104283[6] = 0; - out_8427957452097104283[7] = 0; - out_8427957452097104283[8] = 0; - out_8427957452097104283[9] = 0; - out_8427957452097104283[10] = 0; - out_8427957452097104283[11] = 0; - out_8427957452097104283[12] = 0; - out_8427957452097104283[13] = 0; - out_8427957452097104283[14] = 1; - out_8427957452097104283[15] = 0; - out_8427957452097104283[16] = 0; - out_8427957452097104283[17] = 0; +void H_24(double *state, double *unused, double *out_9067966288769759493) { + out_9067966288769759493[0] = 0; + out_9067966288769759493[1] = 0; + out_9067966288769759493[2] = 0; + out_9067966288769759493[3] = 0; + out_9067966288769759493[4] = 1; + out_9067966288769759493[5] = 0; + out_9067966288769759493[6] = 0; + out_9067966288769759493[7] = 0; + out_9067966288769759493[8] = 0; + out_9067966288769759493[9] = 0; + out_9067966288769759493[10] = 0; + out_9067966288769759493[11] = 0; + out_9067966288769759493[12] = 0; + out_9067966288769759493[13] = 0; + out_9067966288769759493[14] = 1; + out_9067966288769759493[15] = 0; + out_9067966288769759493[16] = 0; + out_9067966288769759493[17] = 0; } -void h_30(double *state, double *unused, double *out_5326785351067454421) { - out_5326785351067454421[0] = state[4]; +void h_30(double *state, double *unused, double *out_5706507355292462350) { + out_5706507355292462350[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8086838917197005629) { - out_8086838917197005629[0] = 0; - out_8086838917197005629[1] = 0; - out_8086838917197005629[2] = 0; - out_8086838917197005629[3] = 0; - out_8086838917197005629[4] = 1; - out_8086838917197005629[5] = 0; - out_8086838917197005629[6] = 0; - out_8086838917197005629[7] = 0; - out_8086838917197005629[8] = 0; +void H_30(double *state, double *unused, double *out_422412828100828669) { + out_422412828100828669[0] = 0; + out_422412828100828669[1] = 0; + out_422412828100828669[2] = 0; + out_422412828100828669[3] = 0; + out_422412828100828669[4] = 1; + out_422412828100828669[5] = 0; + out_422412828100828669[6] = 0; + out_422412828100828669[7] = 0; + out_422412828100828669[8] = 0; } -void h_26(double *state, double *unused, double *out_3469524113198542719) { - out_3469524113198542719[0] = state[7]; +void h_26(double *state, double *unused, double *out_8743293406736795035) { + out_8743293406736795035[0] = state[7]; } -void H_26(double *state, double *unused, double *out_4100068879131241136) { - out_4100068879131241136[0] = 0; - out_4100068879131241136[1] = 0; - out_4100068879131241136[2] = 0; - out_4100068879131241136[3] = 0; - out_4100068879131241136[4] = 0; - out_4100068879131241136[5] = 0; - out_4100068879131241136[6] = 0; - out_4100068879131241136[7] = 1; - out_4100068879131241136[8] = 0; +void H_26(double *state, double *unused, double *out_7366137585243049968) { + out_7366137585243049968[0] = 0; + out_7366137585243049968[1] = 0; + out_7366137585243049968[2] = 0; + out_7366137585243049968[3] = 0; + out_7366137585243049968[4] = 0; + out_7366137585243049968[5] = 0; + out_7366137585243049968[6] = 0; + out_7366137585243049968[7] = 1; + out_7366137585243049968[8] = 0; } -void h_27(double *state, double *unused, double *out_1347450228630900614) { - out_1347450228630900614[0] = state[3]; +void h_27(double *state, double *unused, double *out_6768024602127501529) { + out_6768024602127501529[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8185141844712121076) { - out_8185141844712121076[0] = 0; - out_8185141844712121076[1] = 0; - out_8185141844712121076[2] = 0; - out_8185141844712121076[3] = 1; - out_8185141844712121076[4] = 0; - out_8185141844712121076[5] = 0; - out_8185141844712121076[6] = 0; - out_8185141844712121076[7] = 0; - out_8185141844712121076[8] = 0; +void H_27(double *state, double *unused, double *out_2597176139901253580) { + out_2597176139901253580[0] = 0; + out_2597176139901253580[1] = 0; + out_2597176139901253580[2] = 0; + out_2597176139901253580[3] = 1; + out_2597176139901253580[4] = 0; + out_2597176139901253580[5] = 0; + out_2597176139901253580[6] = 0; + out_2597176139901253580[7] = 0; + out_2597176139901253580[8] = 0; } -void h_29(double *state, double *unused, double *out_2289999299623121736) { - out_2289999299623121736[0] = state[1]; +void h_29(double *state, double *unused, double *out_5090891545105754924) { + out_5090891545105754924[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7576607572882613445) { - out_7576607572882613445[0] = 0; - out_7576607572882613445[1] = 1; - out_7576607572882613445[2] = 0; - out_7576607572882613445[3] = 0; - out_7576607572882613445[4] = 0; - out_7576607572882613445[5] = 0; - out_7576607572882613445[6] = 0; - out_7576607572882613445[7] = 0; - out_7576607572882613445[8] = 0; +void H_29(double *state, double *unused, double *out_4310538866770804613) { + out_4310538866770804613[0] = 0; + out_4310538866770804613[1] = 1; + out_4310538866770804613[2] = 0; + out_4310538866770804613[3] = 0; + out_4310538866770804613[4] = 0; + out_4310538866770804613[5] = 0; + out_4310538866770804613[6] = 0; + out_4310538866770804613[7] = 0; + out_4310538866770804613[8] = 0; } -void h_28(double *state, double *unused, double *out_2290960081532563049) { - out_2290960081532563049[0] = state[0]; +void h_28(double *state, double *unused, double *out_5824514749225839094) { + out_5824514749225839094[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5787737483757407597) { - out_5787737483757407597[0] = 1; - out_5787737483757407597[1] = 0; - out_5787737483757407597[2] = 0; - out_5787737483757407597[3] = 0; - out_5787737483757407597[4] = 0; - out_5787737483757407597[5] = 0; - out_5787737483757407597[6] = 0; - out_5787737483757407597[7] = 0; - out_5787737483757407597[8] = 0; +void H_28(double *state, double *unused, double *out_9053806189869216429) { + out_9053806189869216429[0] = 1; + out_9053806189869216429[1] = 0; + out_9053806189869216429[2] = 0; + out_9053806189869216429[3] = 0; + out_9053806189869216429[4] = 0; + out_9053806189869216429[5] = 0; + out_9053806189869216429[6] = 0; + out_9053806189869216429[7] = 0; + out_9053806189869216429[8] = 0; } -void h_31(double *state, double *unused, double *out_8460171049163783007) { - out_8460171049163783007[0] = state[8]; +void h_31(double *state, double *unused, double *out_8917127482422223291) { + out_8917127482422223291[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3473860776897889660) { - out_3473860776897889660[0] = 0; - out_3473860776897889660[1] = 0; - out_3473860776897889660[2] = 0; - out_3473860776897889660[3] = 0; - out_3473860776897889660[4] = 0; - out_3473860776897889660[5] = 0; - out_3473860776897889660[6] = 0; - out_3473860776897889660[7] = 0; - out_3473860776897889660[8] = 1; +void H_31(double *state, double *unused, double *out_7308457207715484996) { + out_7308457207715484996[0] = 0; + out_7308457207715484996[1] = 0; + out_7308457207715484996[2] = 0; + out_7308457207715484996[3] = 0; + out_7308457207715484996[4] = 0; + out_7308457207715484996[5] = 0; + out_7308457207715484996[6] = 0; + out_7308457207715484996[7] = 0; + out_7308457207715484996[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_4885896537278282144) { - err_fun(nom_x, delta_x, out_4885896537278282144); +void car_err_fun(double *nom_x, double *delta_x, double *out_5825026556611430403) { + err_fun(nom_x, delta_x, out_5825026556611430403); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3745151970403573209) { - inv_err_fun(nom_x, true_x, out_3745151970403573209); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698) { + inv_err_fun(nom_x, true_x, out_8876036798993240698); } -void car_H_mod_fun(double *state, double *out_2937880372820632520) { - H_mod_fun(state, out_2937880372820632520); +void car_H_mod_fun(double *state, double *out_6203949078932441352) { + H_mod_fun(state, out_6203949078932441352); } -void car_f_fun(double *state, double dt, double *out_4204558600518622219) { - f_fun(state, dt, out_4204558600518622219); +void car_f_fun(double *state, double dt, double *out_343822199527135251) { + f_fun(state, dt, out_343822199527135251); } -void car_F_fun(double *state, double dt, double *out_3726788735705827984) { - F_fun(state, dt, out_3726788735705827984); +void car_F_fun(double *state, double dt, double *out_7416815269748566643) { + F_fun(state, dt, out_7416815269748566643); } -void car_h_25(double *state, double *unused, double *out_6349123496291746259) { - h_25(state, unused, out_6349123496291746259); +void car_h_25(double *state, double *unused, double *out_8641933420137717402) { + h_25(state, unused, out_8641933420137717402); } -void car_H_25(double *state, double *unused, double *out_7841572198005297360) { - H_25(state, unused, out_7841572198005297360); +void car_H_25(double *state, double *unused, double *out_7339103169592445424) { + H_25(state, unused, out_7339103169592445424); } -void car_h_24(double *state, double *unused, double *out_2774216340997546785) { - h_24(state, unused, out_2774216340997546785); +void car_h_24(double *state, double *unused, double *out_5501280400540853584) { + h_24(state, unused, out_5501280400540853584); } -void car_H_24(double *state, double *unused, double *out_8427957452097104283) { - H_24(state, unused, out_8427957452097104283); +void car_H_24(double *state, double *unused, double *out_9067966288769759493) { + H_24(state, unused, out_9067966288769759493); } -void car_h_30(double *state, double *unused, double *out_5326785351067454421) { - h_30(state, unused, out_5326785351067454421); +void car_h_30(double *state, double *unused, double *out_5706507355292462350) { + h_30(state, unused, out_5706507355292462350); } -void car_H_30(double *state, double *unused, double *out_8086838917197005629) { - H_30(state, unused, out_8086838917197005629); +void car_H_30(double *state, double *unused, double *out_422412828100828669) { + H_30(state, unused, out_422412828100828669); } -void car_h_26(double *state, double *unused, double *out_3469524113198542719) { - h_26(state, unused, out_3469524113198542719); +void car_h_26(double *state, double *unused, double *out_8743293406736795035) { + h_26(state, unused, out_8743293406736795035); } -void car_H_26(double *state, double *unused, double *out_4100068879131241136) { - H_26(state, unused, out_4100068879131241136); +void car_H_26(double *state, double *unused, double *out_7366137585243049968) { + H_26(state, unused, out_7366137585243049968); } -void car_h_27(double *state, double *unused, double *out_1347450228630900614) { - h_27(state, unused, out_1347450228630900614); +void car_h_27(double *state, double *unused, double *out_6768024602127501529) { + h_27(state, unused, out_6768024602127501529); } -void car_H_27(double *state, double *unused, double *out_8185141844712121076) { - H_27(state, unused, out_8185141844712121076); +void car_H_27(double *state, double *unused, double *out_2597176139901253580) { + H_27(state, unused, out_2597176139901253580); } -void car_h_29(double *state, double *unused, double *out_2289999299623121736) { - h_29(state, unused, out_2289999299623121736); +void car_h_29(double *state, double *unused, double *out_5090891545105754924) { + h_29(state, unused, out_5090891545105754924); } -void car_H_29(double *state, double *unused, double *out_7576607572882613445) { - H_29(state, unused, out_7576607572882613445); +void car_H_29(double *state, double *unused, double *out_4310538866770804613) { + H_29(state, unused, out_4310538866770804613); } -void car_h_28(double *state, double *unused, double *out_2290960081532563049) { - h_28(state, unused, out_2290960081532563049); +void car_h_28(double *state, double *unused, double *out_5824514749225839094) { + h_28(state, unused, out_5824514749225839094); } -void car_H_28(double *state, double *unused, double *out_5787737483757407597) { - H_28(state, unused, out_5787737483757407597); +void car_H_28(double *state, double *unused, double *out_9053806189869216429) { + H_28(state, unused, out_9053806189869216429); } -void car_h_31(double *state, double *unused, double *out_8460171049163783007) { - h_31(state, unused, out_8460171049163783007); +void car_h_31(double *state, double *unused, double *out_8917127482422223291) { + h_31(state, unused, out_8917127482422223291); } -void car_H_31(double *state, double *unused, double *out_3473860776897889660) { - H_31(state, unused, out_3473860776897889660); +void car_H_31(double *state, double *unused, double *out_7308457207715484996) { + H_31(state, unused, out_7308457207715484996); } 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 f07b6b6f7..0b1e1368e 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_4885896537278282144); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3745151970403573209); -void car_H_mod_fun(double *state, double *out_2937880372820632520); -void car_f_fun(double *state, double dt, double *out_4204558600518622219); -void car_F_fun(double *state, double dt, double *out_3726788735705827984); -void car_h_25(double *state, double *unused, double *out_6349123496291746259); -void car_H_25(double *state, double *unused, double *out_7841572198005297360); -void car_h_24(double *state, double *unused, double *out_2774216340997546785); -void car_H_24(double *state, double *unused, double *out_8427957452097104283); -void car_h_30(double *state, double *unused, double *out_5326785351067454421); -void car_H_30(double *state, double *unused, double *out_8086838917197005629); -void car_h_26(double *state, double *unused, double *out_3469524113198542719); -void car_H_26(double *state, double *unused, double *out_4100068879131241136); -void car_h_27(double *state, double *unused, double *out_1347450228630900614); -void car_H_27(double *state, double *unused, double *out_8185141844712121076); -void car_h_29(double *state, double *unused, double *out_2289999299623121736); -void car_H_29(double *state, double *unused, double *out_7576607572882613445); -void car_h_28(double *state, double *unused, double *out_2290960081532563049); -void car_H_28(double *state, double *unused, double *out_5787737483757407597); -void car_h_31(double *state, double *unused, double *out_8460171049163783007); -void car_H_31(double *state, double *unused, double *out_3473860776897889660); +void car_err_fun(double *nom_x, double *delta_x, double *out_5825026556611430403); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698); +void car_H_mod_fun(double *state, double *out_6203949078932441352); +void car_f_fun(double *state, double dt, double *out_343822199527135251); +void car_F_fun(double *state, double dt, double *out_7416815269748566643); +void car_h_25(double *state, double *unused, double *out_8641933420137717402); +void car_H_25(double *state, double *unused, double *out_7339103169592445424); +void car_h_24(double *state, double *unused, double *out_5501280400540853584); +void car_H_24(double *state, double *unused, double *out_9067966288769759493); +void car_h_30(double *state, double *unused, double *out_5706507355292462350); +void car_H_30(double *state, double *unused, double *out_422412828100828669); +void car_h_26(double *state, double *unused, double *out_8743293406736795035); +void car_H_26(double *state, double *unused, double *out_7366137585243049968); +void car_h_27(double *state, double *unused, double *out_6768024602127501529); +void car_H_27(double *state, double *unused, double *out_2597176139901253580); +void car_h_29(double *state, double *unused, double *out_5090891545105754924); +void car_H_29(double *state, double *unused, double *out_4310538866770804613); +void car_h_28(double *state, double *unused, double *out_5824514749225839094); +void car_H_28(double *state, double *unused, double *out_9053806189869216429); +void car_h_31(double *state, double *unused, double *out_8917127482422223291); +void car_H_31(double *state, double *unused, double *out_7308457207715484996); 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 fee86768f..2b0fdc101 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_7136046097392635975) { - out_7136046097392635975[0] = delta_x[0] + nom_x[0]; - out_7136046097392635975[1] = delta_x[1] + nom_x[1]; - out_7136046097392635975[2] = delta_x[2] + nom_x[2]; - out_7136046097392635975[3] = delta_x[3] + nom_x[3]; - out_7136046097392635975[4] = delta_x[4] + nom_x[4]; - out_7136046097392635975[5] = delta_x[5] + nom_x[5]; - out_7136046097392635975[6] = delta_x[6] + nom_x[6]; - out_7136046097392635975[7] = delta_x[7] + nom_x[7]; - out_7136046097392635975[8] = delta_x[8] + nom_x[8]; - out_7136046097392635975[9] = delta_x[9] + nom_x[9]; - out_7136046097392635975[10] = delta_x[10] + nom_x[10]; - out_7136046097392635975[11] = delta_x[11] + nom_x[11]; - out_7136046097392635975[12] = delta_x[12] + nom_x[12]; - out_7136046097392635975[13] = delta_x[13] + nom_x[13]; - out_7136046097392635975[14] = delta_x[14] + nom_x[14]; - out_7136046097392635975[15] = delta_x[15] + nom_x[15]; - out_7136046097392635975[16] = delta_x[16] + nom_x[16]; - out_7136046097392635975[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4860250714300227404) { + out_4860250714300227404[0] = delta_x[0] + nom_x[0]; + out_4860250714300227404[1] = delta_x[1] + nom_x[1]; + out_4860250714300227404[2] = delta_x[2] + nom_x[2]; + out_4860250714300227404[3] = delta_x[3] + nom_x[3]; + out_4860250714300227404[4] = delta_x[4] + nom_x[4]; + out_4860250714300227404[5] = delta_x[5] + nom_x[5]; + out_4860250714300227404[6] = delta_x[6] + nom_x[6]; + out_4860250714300227404[7] = delta_x[7] + nom_x[7]; + out_4860250714300227404[8] = delta_x[8] + nom_x[8]; + out_4860250714300227404[9] = delta_x[9] + nom_x[9]; + out_4860250714300227404[10] = delta_x[10] + nom_x[10]; + out_4860250714300227404[11] = delta_x[11] + nom_x[11]; + out_4860250714300227404[12] = delta_x[12] + nom_x[12]; + out_4860250714300227404[13] = delta_x[13] + nom_x[13]; + out_4860250714300227404[14] = delta_x[14] + nom_x[14]; + out_4860250714300227404[15] = delta_x[15] + nom_x[15]; + out_4860250714300227404[16] = delta_x[16] + nom_x[16]; + out_4860250714300227404[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7829757394788773504) { - out_7829757394788773504[0] = -nom_x[0] + true_x[0]; - out_7829757394788773504[1] = -nom_x[1] + true_x[1]; - out_7829757394788773504[2] = -nom_x[2] + true_x[2]; - out_7829757394788773504[3] = -nom_x[3] + true_x[3]; - out_7829757394788773504[4] = -nom_x[4] + true_x[4]; - out_7829757394788773504[5] = -nom_x[5] + true_x[5]; - out_7829757394788773504[6] = -nom_x[6] + true_x[6]; - out_7829757394788773504[7] = -nom_x[7] + true_x[7]; - out_7829757394788773504[8] = -nom_x[8] + true_x[8]; - out_7829757394788773504[9] = -nom_x[9] + true_x[9]; - out_7829757394788773504[10] = -nom_x[10] + true_x[10]; - out_7829757394788773504[11] = -nom_x[11] + true_x[11]; - out_7829757394788773504[12] = -nom_x[12] + true_x[12]; - out_7829757394788773504[13] = -nom_x[13] + true_x[13]; - out_7829757394788773504[14] = -nom_x[14] + true_x[14]; - out_7829757394788773504[15] = -nom_x[15] + true_x[15]; - out_7829757394788773504[16] = -nom_x[16] + true_x[16]; - out_7829757394788773504[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6437944255548658708) { + out_6437944255548658708[0] = -nom_x[0] + true_x[0]; + out_6437944255548658708[1] = -nom_x[1] + true_x[1]; + out_6437944255548658708[2] = -nom_x[2] + true_x[2]; + out_6437944255548658708[3] = -nom_x[3] + true_x[3]; + out_6437944255548658708[4] = -nom_x[4] + true_x[4]; + out_6437944255548658708[5] = -nom_x[5] + true_x[5]; + out_6437944255548658708[6] = -nom_x[6] + true_x[6]; + out_6437944255548658708[7] = -nom_x[7] + true_x[7]; + out_6437944255548658708[8] = -nom_x[8] + true_x[8]; + out_6437944255548658708[9] = -nom_x[9] + true_x[9]; + out_6437944255548658708[10] = -nom_x[10] + true_x[10]; + out_6437944255548658708[11] = -nom_x[11] + true_x[11]; + out_6437944255548658708[12] = -nom_x[12] + true_x[12]; + out_6437944255548658708[13] = -nom_x[13] + true_x[13]; + out_6437944255548658708[14] = -nom_x[14] + true_x[14]; + out_6437944255548658708[15] = -nom_x[15] + true_x[15]; + out_6437944255548658708[16] = -nom_x[16] + true_x[16]; + out_6437944255548658708[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4151448671193851274) { - out_4151448671193851274[0] = 1.0; - out_4151448671193851274[1] = 0.0; - out_4151448671193851274[2] = 0.0; - out_4151448671193851274[3] = 0.0; - out_4151448671193851274[4] = 0.0; - out_4151448671193851274[5] = 0.0; - out_4151448671193851274[6] = 0.0; - out_4151448671193851274[7] = 0.0; - out_4151448671193851274[8] = 0.0; - out_4151448671193851274[9] = 0.0; - out_4151448671193851274[10] = 0.0; - out_4151448671193851274[11] = 0.0; - out_4151448671193851274[12] = 0.0; - out_4151448671193851274[13] = 0.0; - out_4151448671193851274[14] = 0.0; - out_4151448671193851274[15] = 0.0; - out_4151448671193851274[16] = 0.0; - out_4151448671193851274[17] = 0.0; - out_4151448671193851274[18] = 0.0; - out_4151448671193851274[19] = 1.0; - out_4151448671193851274[20] = 0.0; - out_4151448671193851274[21] = 0.0; - out_4151448671193851274[22] = 0.0; - out_4151448671193851274[23] = 0.0; - out_4151448671193851274[24] = 0.0; - out_4151448671193851274[25] = 0.0; - out_4151448671193851274[26] = 0.0; - out_4151448671193851274[27] = 0.0; - out_4151448671193851274[28] = 0.0; - out_4151448671193851274[29] = 0.0; - out_4151448671193851274[30] = 0.0; - out_4151448671193851274[31] = 0.0; - out_4151448671193851274[32] = 0.0; - out_4151448671193851274[33] = 0.0; - out_4151448671193851274[34] = 0.0; - out_4151448671193851274[35] = 0.0; - out_4151448671193851274[36] = 0.0; - out_4151448671193851274[37] = 0.0; - out_4151448671193851274[38] = 1.0; - out_4151448671193851274[39] = 0.0; - out_4151448671193851274[40] = 0.0; - out_4151448671193851274[41] = 0.0; - out_4151448671193851274[42] = 0.0; - out_4151448671193851274[43] = 0.0; - out_4151448671193851274[44] = 0.0; - out_4151448671193851274[45] = 0.0; - out_4151448671193851274[46] = 0.0; - out_4151448671193851274[47] = 0.0; - out_4151448671193851274[48] = 0.0; - out_4151448671193851274[49] = 0.0; - out_4151448671193851274[50] = 0.0; - out_4151448671193851274[51] = 0.0; - out_4151448671193851274[52] = 0.0; - out_4151448671193851274[53] = 0.0; - out_4151448671193851274[54] = 0.0; - out_4151448671193851274[55] = 0.0; - out_4151448671193851274[56] = 0.0; - out_4151448671193851274[57] = 1.0; - out_4151448671193851274[58] = 0.0; - out_4151448671193851274[59] = 0.0; - out_4151448671193851274[60] = 0.0; - out_4151448671193851274[61] = 0.0; - out_4151448671193851274[62] = 0.0; - out_4151448671193851274[63] = 0.0; - out_4151448671193851274[64] = 0.0; - out_4151448671193851274[65] = 0.0; - out_4151448671193851274[66] = 0.0; - out_4151448671193851274[67] = 0.0; - out_4151448671193851274[68] = 0.0; - out_4151448671193851274[69] = 0.0; - out_4151448671193851274[70] = 0.0; - out_4151448671193851274[71] = 0.0; - out_4151448671193851274[72] = 0.0; - out_4151448671193851274[73] = 0.0; - out_4151448671193851274[74] = 0.0; - out_4151448671193851274[75] = 0.0; - out_4151448671193851274[76] = 1.0; - out_4151448671193851274[77] = 0.0; - out_4151448671193851274[78] = 0.0; - out_4151448671193851274[79] = 0.0; - out_4151448671193851274[80] = 0.0; - out_4151448671193851274[81] = 0.0; - out_4151448671193851274[82] = 0.0; - out_4151448671193851274[83] = 0.0; - out_4151448671193851274[84] = 0.0; - out_4151448671193851274[85] = 0.0; - out_4151448671193851274[86] = 0.0; - out_4151448671193851274[87] = 0.0; - out_4151448671193851274[88] = 0.0; - out_4151448671193851274[89] = 0.0; - out_4151448671193851274[90] = 0.0; - out_4151448671193851274[91] = 0.0; - out_4151448671193851274[92] = 0.0; - out_4151448671193851274[93] = 0.0; - out_4151448671193851274[94] = 0.0; - out_4151448671193851274[95] = 1.0; - out_4151448671193851274[96] = 0.0; - out_4151448671193851274[97] = 0.0; - out_4151448671193851274[98] = 0.0; - out_4151448671193851274[99] = 0.0; - out_4151448671193851274[100] = 0.0; - out_4151448671193851274[101] = 0.0; - out_4151448671193851274[102] = 0.0; - out_4151448671193851274[103] = 0.0; - out_4151448671193851274[104] = 0.0; - out_4151448671193851274[105] = 0.0; - out_4151448671193851274[106] = 0.0; - out_4151448671193851274[107] = 0.0; - out_4151448671193851274[108] = 0.0; - out_4151448671193851274[109] = 0.0; - out_4151448671193851274[110] = 0.0; - out_4151448671193851274[111] = 0.0; - out_4151448671193851274[112] = 0.0; - out_4151448671193851274[113] = 0.0; - out_4151448671193851274[114] = 1.0; - out_4151448671193851274[115] = 0.0; - out_4151448671193851274[116] = 0.0; - out_4151448671193851274[117] = 0.0; - out_4151448671193851274[118] = 0.0; - out_4151448671193851274[119] = 0.0; - out_4151448671193851274[120] = 0.0; - out_4151448671193851274[121] = 0.0; - out_4151448671193851274[122] = 0.0; - out_4151448671193851274[123] = 0.0; - out_4151448671193851274[124] = 0.0; - out_4151448671193851274[125] = 0.0; - out_4151448671193851274[126] = 0.0; - out_4151448671193851274[127] = 0.0; - out_4151448671193851274[128] = 0.0; - out_4151448671193851274[129] = 0.0; - out_4151448671193851274[130] = 0.0; - out_4151448671193851274[131] = 0.0; - out_4151448671193851274[132] = 0.0; - out_4151448671193851274[133] = 1.0; - out_4151448671193851274[134] = 0.0; - out_4151448671193851274[135] = 0.0; - out_4151448671193851274[136] = 0.0; - out_4151448671193851274[137] = 0.0; - out_4151448671193851274[138] = 0.0; - out_4151448671193851274[139] = 0.0; - out_4151448671193851274[140] = 0.0; - out_4151448671193851274[141] = 0.0; - out_4151448671193851274[142] = 0.0; - out_4151448671193851274[143] = 0.0; - out_4151448671193851274[144] = 0.0; - out_4151448671193851274[145] = 0.0; - out_4151448671193851274[146] = 0.0; - out_4151448671193851274[147] = 0.0; - out_4151448671193851274[148] = 0.0; - out_4151448671193851274[149] = 0.0; - out_4151448671193851274[150] = 0.0; - out_4151448671193851274[151] = 0.0; - out_4151448671193851274[152] = 1.0; - out_4151448671193851274[153] = 0.0; - out_4151448671193851274[154] = 0.0; - out_4151448671193851274[155] = 0.0; - out_4151448671193851274[156] = 0.0; - out_4151448671193851274[157] = 0.0; - out_4151448671193851274[158] = 0.0; - out_4151448671193851274[159] = 0.0; - out_4151448671193851274[160] = 0.0; - out_4151448671193851274[161] = 0.0; - out_4151448671193851274[162] = 0.0; - out_4151448671193851274[163] = 0.0; - out_4151448671193851274[164] = 0.0; - out_4151448671193851274[165] = 0.0; - out_4151448671193851274[166] = 0.0; - out_4151448671193851274[167] = 0.0; - out_4151448671193851274[168] = 0.0; - out_4151448671193851274[169] = 0.0; - out_4151448671193851274[170] = 0.0; - out_4151448671193851274[171] = 1.0; - out_4151448671193851274[172] = 0.0; - out_4151448671193851274[173] = 0.0; - out_4151448671193851274[174] = 0.0; - out_4151448671193851274[175] = 0.0; - out_4151448671193851274[176] = 0.0; - out_4151448671193851274[177] = 0.0; - out_4151448671193851274[178] = 0.0; - out_4151448671193851274[179] = 0.0; - out_4151448671193851274[180] = 0.0; - out_4151448671193851274[181] = 0.0; - out_4151448671193851274[182] = 0.0; - out_4151448671193851274[183] = 0.0; - out_4151448671193851274[184] = 0.0; - out_4151448671193851274[185] = 0.0; - out_4151448671193851274[186] = 0.0; - out_4151448671193851274[187] = 0.0; - out_4151448671193851274[188] = 0.0; - out_4151448671193851274[189] = 0.0; - out_4151448671193851274[190] = 1.0; - out_4151448671193851274[191] = 0.0; - out_4151448671193851274[192] = 0.0; - out_4151448671193851274[193] = 0.0; - out_4151448671193851274[194] = 0.0; - out_4151448671193851274[195] = 0.0; - out_4151448671193851274[196] = 0.0; - out_4151448671193851274[197] = 0.0; - out_4151448671193851274[198] = 0.0; - out_4151448671193851274[199] = 0.0; - out_4151448671193851274[200] = 0.0; - out_4151448671193851274[201] = 0.0; - out_4151448671193851274[202] = 0.0; - out_4151448671193851274[203] = 0.0; - out_4151448671193851274[204] = 0.0; - out_4151448671193851274[205] = 0.0; - out_4151448671193851274[206] = 0.0; - out_4151448671193851274[207] = 0.0; - out_4151448671193851274[208] = 0.0; - out_4151448671193851274[209] = 1.0; - out_4151448671193851274[210] = 0.0; - out_4151448671193851274[211] = 0.0; - out_4151448671193851274[212] = 0.0; - out_4151448671193851274[213] = 0.0; - out_4151448671193851274[214] = 0.0; - out_4151448671193851274[215] = 0.0; - out_4151448671193851274[216] = 0.0; - out_4151448671193851274[217] = 0.0; - out_4151448671193851274[218] = 0.0; - out_4151448671193851274[219] = 0.0; - out_4151448671193851274[220] = 0.0; - out_4151448671193851274[221] = 0.0; - out_4151448671193851274[222] = 0.0; - out_4151448671193851274[223] = 0.0; - out_4151448671193851274[224] = 0.0; - out_4151448671193851274[225] = 0.0; - out_4151448671193851274[226] = 0.0; - out_4151448671193851274[227] = 0.0; - out_4151448671193851274[228] = 1.0; - out_4151448671193851274[229] = 0.0; - out_4151448671193851274[230] = 0.0; - out_4151448671193851274[231] = 0.0; - out_4151448671193851274[232] = 0.0; - out_4151448671193851274[233] = 0.0; - out_4151448671193851274[234] = 0.0; - out_4151448671193851274[235] = 0.0; - out_4151448671193851274[236] = 0.0; - out_4151448671193851274[237] = 0.0; - out_4151448671193851274[238] = 0.0; - out_4151448671193851274[239] = 0.0; - out_4151448671193851274[240] = 0.0; - out_4151448671193851274[241] = 0.0; - out_4151448671193851274[242] = 0.0; - out_4151448671193851274[243] = 0.0; - out_4151448671193851274[244] = 0.0; - out_4151448671193851274[245] = 0.0; - out_4151448671193851274[246] = 0.0; - out_4151448671193851274[247] = 1.0; - out_4151448671193851274[248] = 0.0; - out_4151448671193851274[249] = 0.0; - out_4151448671193851274[250] = 0.0; - out_4151448671193851274[251] = 0.0; - out_4151448671193851274[252] = 0.0; - out_4151448671193851274[253] = 0.0; - out_4151448671193851274[254] = 0.0; - out_4151448671193851274[255] = 0.0; - out_4151448671193851274[256] = 0.0; - out_4151448671193851274[257] = 0.0; - out_4151448671193851274[258] = 0.0; - out_4151448671193851274[259] = 0.0; - out_4151448671193851274[260] = 0.0; - out_4151448671193851274[261] = 0.0; - out_4151448671193851274[262] = 0.0; - out_4151448671193851274[263] = 0.0; - out_4151448671193851274[264] = 0.0; - out_4151448671193851274[265] = 0.0; - out_4151448671193851274[266] = 1.0; - out_4151448671193851274[267] = 0.0; - out_4151448671193851274[268] = 0.0; - out_4151448671193851274[269] = 0.0; - out_4151448671193851274[270] = 0.0; - out_4151448671193851274[271] = 0.0; - out_4151448671193851274[272] = 0.0; - out_4151448671193851274[273] = 0.0; - out_4151448671193851274[274] = 0.0; - out_4151448671193851274[275] = 0.0; - out_4151448671193851274[276] = 0.0; - out_4151448671193851274[277] = 0.0; - out_4151448671193851274[278] = 0.0; - out_4151448671193851274[279] = 0.0; - out_4151448671193851274[280] = 0.0; - out_4151448671193851274[281] = 0.0; - out_4151448671193851274[282] = 0.0; - out_4151448671193851274[283] = 0.0; - out_4151448671193851274[284] = 0.0; - out_4151448671193851274[285] = 1.0; - out_4151448671193851274[286] = 0.0; - out_4151448671193851274[287] = 0.0; - out_4151448671193851274[288] = 0.0; - out_4151448671193851274[289] = 0.0; - out_4151448671193851274[290] = 0.0; - out_4151448671193851274[291] = 0.0; - out_4151448671193851274[292] = 0.0; - out_4151448671193851274[293] = 0.0; - out_4151448671193851274[294] = 0.0; - out_4151448671193851274[295] = 0.0; - out_4151448671193851274[296] = 0.0; - out_4151448671193851274[297] = 0.0; - out_4151448671193851274[298] = 0.0; - out_4151448671193851274[299] = 0.0; - out_4151448671193851274[300] = 0.0; - out_4151448671193851274[301] = 0.0; - out_4151448671193851274[302] = 0.0; - out_4151448671193851274[303] = 0.0; - out_4151448671193851274[304] = 1.0; - out_4151448671193851274[305] = 0.0; - out_4151448671193851274[306] = 0.0; - out_4151448671193851274[307] = 0.0; - out_4151448671193851274[308] = 0.0; - out_4151448671193851274[309] = 0.0; - out_4151448671193851274[310] = 0.0; - out_4151448671193851274[311] = 0.0; - out_4151448671193851274[312] = 0.0; - out_4151448671193851274[313] = 0.0; - out_4151448671193851274[314] = 0.0; - out_4151448671193851274[315] = 0.0; - out_4151448671193851274[316] = 0.0; - out_4151448671193851274[317] = 0.0; - out_4151448671193851274[318] = 0.0; - out_4151448671193851274[319] = 0.0; - out_4151448671193851274[320] = 0.0; - out_4151448671193851274[321] = 0.0; - out_4151448671193851274[322] = 0.0; - out_4151448671193851274[323] = 1.0; +void H_mod_fun(double *state, double *out_22797630451996970) { + out_22797630451996970[0] = 1.0; + out_22797630451996970[1] = 0.0; + out_22797630451996970[2] = 0.0; + out_22797630451996970[3] = 0.0; + out_22797630451996970[4] = 0.0; + out_22797630451996970[5] = 0.0; + out_22797630451996970[6] = 0.0; + out_22797630451996970[7] = 0.0; + out_22797630451996970[8] = 0.0; + out_22797630451996970[9] = 0.0; + out_22797630451996970[10] = 0.0; + out_22797630451996970[11] = 0.0; + out_22797630451996970[12] = 0.0; + out_22797630451996970[13] = 0.0; + out_22797630451996970[14] = 0.0; + out_22797630451996970[15] = 0.0; + out_22797630451996970[16] = 0.0; + out_22797630451996970[17] = 0.0; + out_22797630451996970[18] = 0.0; + out_22797630451996970[19] = 1.0; + out_22797630451996970[20] = 0.0; + out_22797630451996970[21] = 0.0; + out_22797630451996970[22] = 0.0; + out_22797630451996970[23] = 0.0; + out_22797630451996970[24] = 0.0; + out_22797630451996970[25] = 0.0; + out_22797630451996970[26] = 0.0; + out_22797630451996970[27] = 0.0; + out_22797630451996970[28] = 0.0; + out_22797630451996970[29] = 0.0; + out_22797630451996970[30] = 0.0; + out_22797630451996970[31] = 0.0; + out_22797630451996970[32] = 0.0; + out_22797630451996970[33] = 0.0; + out_22797630451996970[34] = 0.0; + out_22797630451996970[35] = 0.0; + out_22797630451996970[36] = 0.0; + out_22797630451996970[37] = 0.0; + out_22797630451996970[38] = 1.0; + out_22797630451996970[39] = 0.0; + out_22797630451996970[40] = 0.0; + out_22797630451996970[41] = 0.0; + out_22797630451996970[42] = 0.0; + out_22797630451996970[43] = 0.0; + out_22797630451996970[44] = 0.0; + out_22797630451996970[45] = 0.0; + out_22797630451996970[46] = 0.0; + out_22797630451996970[47] = 0.0; + out_22797630451996970[48] = 0.0; + out_22797630451996970[49] = 0.0; + out_22797630451996970[50] = 0.0; + out_22797630451996970[51] = 0.0; + out_22797630451996970[52] = 0.0; + out_22797630451996970[53] = 0.0; + out_22797630451996970[54] = 0.0; + out_22797630451996970[55] = 0.0; + out_22797630451996970[56] = 0.0; + out_22797630451996970[57] = 1.0; + out_22797630451996970[58] = 0.0; + out_22797630451996970[59] = 0.0; + out_22797630451996970[60] = 0.0; + out_22797630451996970[61] = 0.0; + out_22797630451996970[62] = 0.0; + out_22797630451996970[63] = 0.0; + out_22797630451996970[64] = 0.0; + out_22797630451996970[65] = 0.0; + out_22797630451996970[66] = 0.0; + out_22797630451996970[67] = 0.0; + out_22797630451996970[68] = 0.0; + out_22797630451996970[69] = 0.0; + out_22797630451996970[70] = 0.0; + out_22797630451996970[71] = 0.0; + out_22797630451996970[72] = 0.0; + out_22797630451996970[73] = 0.0; + out_22797630451996970[74] = 0.0; + out_22797630451996970[75] = 0.0; + out_22797630451996970[76] = 1.0; + out_22797630451996970[77] = 0.0; + out_22797630451996970[78] = 0.0; + out_22797630451996970[79] = 0.0; + out_22797630451996970[80] = 0.0; + out_22797630451996970[81] = 0.0; + out_22797630451996970[82] = 0.0; + out_22797630451996970[83] = 0.0; + out_22797630451996970[84] = 0.0; + out_22797630451996970[85] = 0.0; + out_22797630451996970[86] = 0.0; + out_22797630451996970[87] = 0.0; + out_22797630451996970[88] = 0.0; + out_22797630451996970[89] = 0.0; + out_22797630451996970[90] = 0.0; + out_22797630451996970[91] = 0.0; + out_22797630451996970[92] = 0.0; + out_22797630451996970[93] = 0.0; + out_22797630451996970[94] = 0.0; + out_22797630451996970[95] = 1.0; + out_22797630451996970[96] = 0.0; + out_22797630451996970[97] = 0.0; + out_22797630451996970[98] = 0.0; + out_22797630451996970[99] = 0.0; + out_22797630451996970[100] = 0.0; + out_22797630451996970[101] = 0.0; + out_22797630451996970[102] = 0.0; + out_22797630451996970[103] = 0.0; + out_22797630451996970[104] = 0.0; + out_22797630451996970[105] = 0.0; + out_22797630451996970[106] = 0.0; + out_22797630451996970[107] = 0.0; + out_22797630451996970[108] = 0.0; + out_22797630451996970[109] = 0.0; + out_22797630451996970[110] = 0.0; + out_22797630451996970[111] = 0.0; + out_22797630451996970[112] = 0.0; + out_22797630451996970[113] = 0.0; + out_22797630451996970[114] = 1.0; + out_22797630451996970[115] = 0.0; + out_22797630451996970[116] = 0.0; + out_22797630451996970[117] = 0.0; + out_22797630451996970[118] = 0.0; + out_22797630451996970[119] = 0.0; + out_22797630451996970[120] = 0.0; + out_22797630451996970[121] = 0.0; + out_22797630451996970[122] = 0.0; + out_22797630451996970[123] = 0.0; + out_22797630451996970[124] = 0.0; + out_22797630451996970[125] = 0.0; + out_22797630451996970[126] = 0.0; + out_22797630451996970[127] = 0.0; + out_22797630451996970[128] = 0.0; + out_22797630451996970[129] = 0.0; + out_22797630451996970[130] = 0.0; + out_22797630451996970[131] = 0.0; + out_22797630451996970[132] = 0.0; + out_22797630451996970[133] = 1.0; + out_22797630451996970[134] = 0.0; + out_22797630451996970[135] = 0.0; + out_22797630451996970[136] = 0.0; + out_22797630451996970[137] = 0.0; + out_22797630451996970[138] = 0.0; + out_22797630451996970[139] = 0.0; + out_22797630451996970[140] = 0.0; + out_22797630451996970[141] = 0.0; + out_22797630451996970[142] = 0.0; + out_22797630451996970[143] = 0.0; + out_22797630451996970[144] = 0.0; + out_22797630451996970[145] = 0.0; + out_22797630451996970[146] = 0.0; + out_22797630451996970[147] = 0.0; + out_22797630451996970[148] = 0.0; + out_22797630451996970[149] = 0.0; + out_22797630451996970[150] = 0.0; + out_22797630451996970[151] = 0.0; + out_22797630451996970[152] = 1.0; + out_22797630451996970[153] = 0.0; + out_22797630451996970[154] = 0.0; + out_22797630451996970[155] = 0.0; + out_22797630451996970[156] = 0.0; + out_22797630451996970[157] = 0.0; + out_22797630451996970[158] = 0.0; + out_22797630451996970[159] = 0.0; + out_22797630451996970[160] = 0.0; + out_22797630451996970[161] = 0.0; + out_22797630451996970[162] = 0.0; + out_22797630451996970[163] = 0.0; + out_22797630451996970[164] = 0.0; + out_22797630451996970[165] = 0.0; + out_22797630451996970[166] = 0.0; + out_22797630451996970[167] = 0.0; + out_22797630451996970[168] = 0.0; + out_22797630451996970[169] = 0.0; + out_22797630451996970[170] = 0.0; + out_22797630451996970[171] = 1.0; + out_22797630451996970[172] = 0.0; + out_22797630451996970[173] = 0.0; + out_22797630451996970[174] = 0.0; + out_22797630451996970[175] = 0.0; + out_22797630451996970[176] = 0.0; + out_22797630451996970[177] = 0.0; + out_22797630451996970[178] = 0.0; + out_22797630451996970[179] = 0.0; + out_22797630451996970[180] = 0.0; + out_22797630451996970[181] = 0.0; + out_22797630451996970[182] = 0.0; + out_22797630451996970[183] = 0.0; + out_22797630451996970[184] = 0.0; + out_22797630451996970[185] = 0.0; + out_22797630451996970[186] = 0.0; + out_22797630451996970[187] = 0.0; + out_22797630451996970[188] = 0.0; + out_22797630451996970[189] = 0.0; + out_22797630451996970[190] = 1.0; + out_22797630451996970[191] = 0.0; + out_22797630451996970[192] = 0.0; + out_22797630451996970[193] = 0.0; + out_22797630451996970[194] = 0.0; + out_22797630451996970[195] = 0.0; + out_22797630451996970[196] = 0.0; + out_22797630451996970[197] = 0.0; + out_22797630451996970[198] = 0.0; + out_22797630451996970[199] = 0.0; + out_22797630451996970[200] = 0.0; + out_22797630451996970[201] = 0.0; + out_22797630451996970[202] = 0.0; + out_22797630451996970[203] = 0.0; + out_22797630451996970[204] = 0.0; + out_22797630451996970[205] = 0.0; + out_22797630451996970[206] = 0.0; + out_22797630451996970[207] = 0.0; + out_22797630451996970[208] = 0.0; + out_22797630451996970[209] = 1.0; + out_22797630451996970[210] = 0.0; + out_22797630451996970[211] = 0.0; + out_22797630451996970[212] = 0.0; + out_22797630451996970[213] = 0.0; + out_22797630451996970[214] = 0.0; + out_22797630451996970[215] = 0.0; + out_22797630451996970[216] = 0.0; + out_22797630451996970[217] = 0.0; + out_22797630451996970[218] = 0.0; + out_22797630451996970[219] = 0.0; + out_22797630451996970[220] = 0.0; + out_22797630451996970[221] = 0.0; + out_22797630451996970[222] = 0.0; + out_22797630451996970[223] = 0.0; + out_22797630451996970[224] = 0.0; + out_22797630451996970[225] = 0.0; + out_22797630451996970[226] = 0.0; + out_22797630451996970[227] = 0.0; + out_22797630451996970[228] = 1.0; + out_22797630451996970[229] = 0.0; + out_22797630451996970[230] = 0.0; + out_22797630451996970[231] = 0.0; + out_22797630451996970[232] = 0.0; + out_22797630451996970[233] = 0.0; + out_22797630451996970[234] = 0.0; + out_22797630451996970[235] = 0.0; + out_22797630451996970[236] = 0.0; + out_22797630451996970[237] = 0.0; + out_22797630451996970[238] = 0.0; + out_22797630451996970[239] = 0.0; + out_22797630451996970[240] = 0.0; + out_22797630451996970[241] = 0.0; + out_22797630451996970[242] = 0.0; + out_22797630451996970[243] = 0.0; + out_22797630451996970[244] = 0.0; + out_22797630451996970[245] = 0.0; + out_22797630451996970[246] = 0.0; + out_22797630451996970[247] = 1.0; + out_22797630451996970[248] = 0.0; + out_22797630451996970[249] = 0.0; + out_22797630451996970[250] = 0.0; + out_22797630451996970[251] = 0.0; + out_22797630451996970[252] = 0.0; + out_22797630451996970[253] = 0.0; + out_22797630451996970[254] = 0.0; + out_22797630451996970[255] = 0.0; + out_22797630451996970[256] = 0.0; + out_22797630451996970[257] = 0.0; + out_22797630451996970[258] = 0.0; + out_22797630451996970[259] = 0.0; + out_22797630451996970[260] = 0.0; + out_22797630451996970[261] = 0.0; + out_22797630451996970[262] = 0.0; + out_22797630451996970[263] = 0.0; + out_22797630451996970[264] = 0.0; + out_22797630451996970[265] = 0.0; + out_22797630451996970[266] = 1.0; + out_22797630451996970[267] = 0.0; + out_22797630451996970[268] = 0.0; + out_22797630451996970[269] = 0.0; + out_22797630451996970[270] = 0.0; + out_22797630451996970[271] = 0.0; + out_22797630451996970[272] = 0.0; + out_22797630451996970[273] = 0.0; + out_22797630451996970[274] = 0.0; + out_22797630451996970[275] = 0.0; + out_22797630451996970[276] = 0.0; + out_22797630451996970[277] = 0.0; + out_22797630451996970[278] = 0.0; + out_22797630451996970[279] = 0.0; + out_22797630451996970[280] = 0.0; + out_22797630451996970[281] = 0.0; + out_22797630451996970[282] = 0.0; + out_22797630451996970[283] = 0.0; + out_22797630451996970[284] = 0.0; + out_22797630451996970[285] = 1.0; + out_22797630451996970[286] = 0.0; + out_22797630451996970[287] = 0.0; + out_22797630451996970[288] = 0.0; + out_22797630451996970[289] = 0.0; + out_22797630451996970[290] = 0.0; + out_22797630451996970[291] = 0.0; + out_22797630451996970[292] = 0.0; + out_22797630451996970[293] = 0.0; + out_22797630451996970[294] = 0.0; + out_22797630451996970[295] = 0.0; + out_22797630451996970[296] = 0.0; + out_22797630451996970[297] = 0.0; + out_22797630451996970[298] = 0.0; + out_22797630451996970[299] = 0.0; + out_22797630451996970[300] = 0.0; + out_22797630451996970[301] = 0.0; + out_22797630451996970[302] = 0.0; + out_22797630451996970[303] = 0.0; + out_22797630451996970[304] = 1.0; + out_22797630451996970[305] = 0.0; + out_22797630451996970[306] = 0.0; + out_22797630451996970[307] = 0.0; + out_22797630451996970[308] = 0.0; + out_22797630451996970[309] = 0.0; + out_22797630451996970[310] = 0.0; + out_22797630451996970[311] = 0.0; + out_22797630451996970[312] = 0.0; + out_22797630451996970[313] = 0.0; + out_22797630451996970[314] = 0.0; + out_22797630451996970[315] = 0.0; + out_22797630451996970[316] = 0.0; + out_22797630451996970[317] = 0.0; + out_22797630451996970[318] = 0.0; + out_22797630451996970[319] = 0.0; + out_22797630451996970[320] = 0.0; + out_22797630451996970[321] = 0.0; + out_22797630451996970[322] = 0.0; + out_22797630451996970[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1642603653923874431) { - out_1642603653923874431[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_1642603653923874431[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_1642603653923874431[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_1642603653923874431[3] = dt*state[12] + state[3]; - out_1642603653923874431[4] = dt*state[13] + state[4]; - out_1642603653923874431[5] = dt*state[14] + state[5]; - out_1642603653923874431[6] = state[6]; - out_1642603653923874431[7] = state[7]; - out_1642603653923874431[8] = state[8]; - out_1642603653923874431[9] = state[9]; - out_1642603653923874431[10] = state[10]; - out_1642603653923874431[11] = state[11]; - out_1642603653923874431[12] = state[12]; - out_1642603653923874431[13] = state[13]; - out_1642603653923874431[14] = state[14]; - out_1642603653923874431[15] = state[15]; - out_1642603653923874431[16] = state[16]; - out_1642603653923874431[17] = state[17]; +void f_fun(double *state, double dt, double *out_2362837524605346595) { + out_2362837524605346595[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_2362837524605346595[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_2362837524605346595[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_2362837524605346595[3] = dt*state[12] + state[3]; + out_2362837524605346595[4] = dt*state[13] + state[4]; + out_2362837524605346595[5] = dt*state[14] + state[5]; + out_2362837524605346595[6] = state[6]; + out_2362837524605346595[7] = state[7]; + out_2362837524605346595[8] = state[8]; + out_2362837524605346595[9] = state[9]; + out_2362837524605346595[10] = state[10]; + out_2362837524605346595[11] = state[11]; + out_2362837524605346595[12] = state[12]; + out_2362837524605346595[13] = state[13]; + out_2362837524605346595[14] = state[14]; + out_2362837524605346595[15] = state[15]; + out_2362837524605346595[16] = state[16]; + out_2362837524605346595[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7023136226815456968) { - out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[2] = 0; - out_7023136226815456968[3] = 0; - out_7023136226815456968[4] = 0; - out_7023136226815456968[5] = 0; - out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[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_7023136226815456968[9] = 0; - out_7023136226815456968[10] = 0; - out_7023136226815456968[11] = 0; - out_7023136226815456968[12] = 0; - out_7023136226815456968[13] = 0; - out_7023136226815456968[14] = 0; - out_7023136226815456968[15] = 0; - out_7023136226815456968[16] = 0; - out_7023136226815456968[17] = 0; - out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[20] = 0; - out_7023136226815456968[21] = 0; - out_7023136226815456968[22] = 0; - out_7023136226815456968[23] = 0; - out_7023136226815456968[24] = 0; - out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[27] = 0; - out_7023136226815456968[28] = 0; - out_7023136226815456968[29] = 0; - out_7023136226815456968[30] = 0; - out_7023136226815456968[31] = 0; - out_7023136226815456968[32] = 0; - out_7023136226815456968[33] = 0; - out_7023136226815456968[34] = 0; - out_7023136226815456968[35] = 0; - out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[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_7023136226815456968[39] = 0; - out_7023136226815456968[40] = 0; - out_7023136226815456968[41] = 0; - out_7023136226815456968[42] = 0; - out_7023136226815456968[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_7023136226815456968[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_7023136226815456968[45] = 0; - out_7023136226815456968[46] = 0; - out_7023136226815456968[47] = 0; - out_7023136226815456968[48] = 0; - out_7023136226815456968[49] = 0; - out_7023136226815456968[50] = 0; - out_7023136226815456968[51] = 0; - out_7023136226815456968[52] = 0; - out_7023136226815456968[53] = 0; - out_7023136226815456968[54] = 0; - out_7023136226815456968[55] = 0; - out_7023136226815456968[56] = 0; - out_7023136226815456968[57] = 1; - out_7023136226815456968[58] = 0; - out_7023136226815456968[59] = 0; - out_7023136226815456968[60] = 0; - out_7023136226815456968[61] = 0; - out_7023136226815456968[62] = 0; - out_7023136226815456968[63] = 0; - out_7023136226815456968[64] = 0; - out_7023136226815456968[65] = 0; - out_7023136226815456968[66] = dt; - out_7023136226815456968[67] = 0; - out_7023136226815456968[68] = 0; - out_7023136226815456968[69] = 0; - out_7023136226815456968[70] = 0; - out_7023136226815456968[71] = 0; - out_7023136226815456968[72] = 0; - out_7023136226815456968[73] = 0; - out_7023136226815456968[74] = 0; - out_7023136226815456968[75] = 0; - out_7023136226815456968[76] = 1; - out_7023136226815456968[77] = 0; - out_7023136226815456968[78] = 0; - out_7023136226815456968[79] = 0; - out_7023136226815456968[80] = 0; - out_7023136226815456968[81] = 0; - out_7023136226815456968[82] = 0; - out_7023136226815456968[83] = 0; - out_7023136226815456968[84] = 0; - out_7023136226815456968[85] = dt; - out_7023136226815456968[86] = 0; - out_7023136226815456968[87] = 0; - out_7023136226815456968[88] = 0; - out_7023136226815456968[89] = 0; - out_7023136226815456968[90] = 0; - out_7023136226815456968[91] = 0; - out_7023136226815456968[92] = 0; - out_7023136226815456968[93] = 0; - out_7023136226815456968[94] = 0; - out_7023136226815456968[95] = 1; - out_7023136226815456968[96] = 0; - out_7023136226815456968[97] = 0; - out_7023136226815456968[98] = 0; - out_7023136226815456968[99] = 0; - out_7023136226815456968[100] = 0; - out_7023136226815456968[101] = 0; - out_7023136226815456968[102] = 0; - out_7023136226815456968[103] = 0; - out_7023136226815456968[104] = dt; - out_7023136226815456968[105] = 0; - out_7023136226815456968[106] = 0; - out_7023136226815456968[107] = 0; - out_7023136226815456968[108] = 0; - out_7023136226815456968[109] = 0; - out_7023136226815456968[110] = 0; - out_7023136226815456968[111] = 0; - out_7023136226815456968[112] = 0; - out_7023136226815456968[113] = 0; - out_7023136226815456968[114] = 1; - out_7023136226815456968[115] = 0; - out_7023136226815456968[116] = 0; - out_7023136226815456968[117] = 0; - out_7023136226815456968[118] = 0; - out_7023136226815456968[119] = 0; - out_7023136226815456968[120] = 0; - out_7023136226815456968[121] = 0; - out_7023136226815456968[122] = 0; - out_7023136226815456968[123] = 0; - out_7023136226815456968[124] = 0; - out_7023136226815456968[125] = 0; - out_7023136226815456968[126] = 0; - out_7023136226815456968[127] = 0; - out_7023136226815456968[128] = 0; - out_7023136226815456968[129] = 0; - out_7023136226815456968[130] = 0; - out_7023136226815456968[131] = 0; - out_7023136226815456968[132] = 0; - out_7023136226815456968[133] = 1; - out_7023136226815456968[134] = 0; - out_7023136226815456968[135] = 0; - out_7023136226815456968[136] = 0; - out_7023136226815456968[137] = 0; - out_7023136226815456968[138] = 0; - out_7023136226815456968[139] = 0; - out_7023136226815456968[140] = 0; - out_7023136226815456968[141] = 0; - out_7023136226815456968[142] = 0; - out_7023136226815456968[143] = 0; - out_7023136226815456968[144] = 0; - out_7023136226815456968[145] = 0; - out_7023136226815456968[146] = 0; - out_7023136226815456968[147] = 0; - out_7023136226815456968[148] = 0; - out_7023136226815456968[149] = 0; - out_7023136226815456968[150] = 0; - out_7023136226815456968[151] = 0; - out_7023136226815456968[152] = 1; - out_7023136226815456968[153] = 0; - out_7023136226815456968[154] = 0; - out_7023136226815456968[155] = 0; - out_7023136226815456968[156] = 0; - out_7023136226815456968[157] = 0; - out_7023136226815456968[158] = 0; - out_7023136226815456968[159] = 0; - out_7023136226815456968[160] = 0; - out_7023136226815456968[161] = 0; - out_7023136226815456968[162] = 0; - out_7023136226815456968[163] = 0; - out_7023136226815456968[164] = 0; - out_7023136226815456968[165] = 0; - out_7023136226815456968[166] = 0; - out_7023136226815456968[167] = 0; - out_7023136226815456968[168] = 0; - out_7023136226815456968[169] = 0; - out_7023136226815456968[170] = 0; - out_7023136226815456968[171] = 1; - out_7023136226815456968[172] = 0; - out_7023136226815456968[173] = 0; - out_7023136226815456968[174] = 0; - out_7023136226815456968[175] = 0; - out_7023136226815456968[176] = 0; - out_7023136226815456968[177] = 0; - out_7023136226815456968[178] = 0; - out_7023136226815456968[179] = 0; - out_7023136226815456968[180] = 0; - out_7023136226815456968[181] = 0; - out_7023136226815456968[182] = 0; - out_7023136226815456968[183] = 0; - out_7023136226815456968[184] = 0; - out_7023136226815456968[185] = 0; - out_7023136226815456968[186] = 0; - out_7023136226815456968[187] = 0; - out_7023136226815456968[188] = 0; - out_7023136226815456968[189] = 0; - out_7023136226815456968[190] = 1; - out_7023136226815456968[191] = 0; - out_7023136226815456968[192] = 0; - out_7023136226815456968[193] = 0; - out_7023136226815456968[194] = 0; - out_7023136226815456968[195] = 0; - out_7023136226815456968[196] = 0; - out_7023136226815456968[197] = 0; - out_7023136226815456968[198] = 0; - out_7023136226815456968[199] = 0; - out_7023136226815456968[200] = 0; - out_7023136226815456968[201] = 0; - out_7023136226815456968[202] = 0; - out_7023136226815456968[203] = 0; - out_7023136226815456968[204] = 0; - out_7023136226815456968[205] = 0; - out_7023136226815456968[206] = 0; - out_7023136226815456968[207] = 0; - out_7023136226815456968[208] = 0; - out_7023136226815456968[209] = 1; - out_7023136226815456968[210] = 0; - out_7023136226815456968[211] = 0; - out_7023136226815456968[212] = 0; - out_7023136226815456968[213] = 0; - out_7023136226815456968[214] = 0; - out_7023136226815456968[215] = 0; - out_7023136226815456968[216] = 0; - out_7023136226815456968[217] = 0; - out_7023136226815456968[218] = 0; - out_7023136226815456968[219] = 0; - out_7023136226815456968[220] = 0; - out_7023136226815456968[221] = 0; - out_7023136226815456968[222] = 0; - out_7023136226815456968[223] = 0; - out_7023136226815456968[224] = 0; - out_7023136226815456968[225] = 0; - out_7023136226815456968[226] = 0; - out_7023136226815456968[227] = 0; - out_7023136226815456968[228] = 1; - out_7023136226815456968[229] = 0; - out_7023136226815456968[230] = 0; - out_7023136226815456968[231] = 0; - out_7023136226815456968[232] = 0; - out_7023136226815456968[233] = 0; - out_7023136226815456968[234] = 0; - out_7023136226815456968[235] = 0; - out_7023136226815456968[236] = 0; - out_7023136226815456968[237] = 0; - out_7023136226815456968[238] = 0; - out_7023136226815456968[239] = 0; - out_7023136226815456968[240] = 0; - out_7023136226815456968[241] = 0; - out_7023136226815456968[242] = 0; - out_7023136226815456968[243] = 0; - out_7023136226815456968[244] = 0; - out_7023136226815456968[245] = 0; - out_7023136226815456968[246] = 0; - out_7023136226815456968[247] = 1; - out_7023136226815456968[248] = 0; - out_7023136226815456968[249] = 0; - out_7023136226815456968[250] = 0; - out_7023136226815456968[251] = 0; - out_7023136226815456968[252] = 0; - out_7023136226815456968[253] = 0; - out_7023136226815456968[254] = 0; - out_7023136226815456968[255] = 0; - out_7023136226815456968[256] = 0; - out_7023136226815456968[257] = 0; - out_7023136226815456968[258] = 0; - out_7023136226815456968[259] = 0; - out_7023136226815456968[260] = 0; - out_7023136226815456968[261] = 0; - out_7023136226815456968[262] = 0; - out_7023136226815456968[263] = 0; - out_7023136226815456968[264] = 0; - out_7023136226815456968[265] = 0; - out_7023136226815456968[266] = 1; - out_7023136226815456968[267] = 0; - out_7023136226815456968[268] = 0; - out_7023136226815456968[269] = 0; - out_7023136226815456968[270] = 0; - out_7023136226815456968[271] = 0; - out_7023136226815456968[272] = 0; - out_7023136226815456968[273] = 0; - out_7023136226815456968[274] = 0; - out_7023136226815456968[275] = 0; - out_7023136226815456968[276] = 0; - out_7023136226815456968[277] = 0; - out_7023136226815456968[278] = 0; - out_7023136226815456968[279] = 0; - out_7023136226815456968[280] = 0; - out_7023136226815456968[281] = 0; - out_7023136226815456968[282] = 0; - out_7023136226815456968[283] = 0; - out_7023136226815456968[284] = 0; - out_7023136226815456968[285] = 1; - out_7023136226815456968[286] = 0; - out_7023136226815456968[287] = 0; - out_7023136226815456968[288] = 0; - out_7023136226815456968[289] = 0; - out_7023136226815456968[290] = 0; - out_7023136226815456968[291] = 0; - out_7023136226815456968[292] = 0; - out_7023136226815456968[293] = 0; - out_7023136226815456968[294] = 0; - out_7023136226815456968[295] = 0; - out_7023136226815456968[296] = 0; - out_7023136226815456968[297] = 0; - out_7023136226815456968[298] = 0; - out_7023136226815456968[299] = 0; - out_7023136226815456968[300] = 0; - out_7023136226815456968[301] = 0; - out_7023136226815456968[302] = 0; - out_7023136226815456968[303] = 0; - out_7023136226815456968[304] = 1; - out_7023136226815456968[305] = 0; - out_7023136226815456968[306] = 0; - out_7023136226815456968[307] = 0; - out_7023136226815456968[308] = 0; - out_7023136226815456968[309] = 0; - out_7023136226815456968[310] = 0; - out_7023136226815456968[311] = 0; - out_7023136226815456968[312] = 0; - out_7023136226815456968[313] = 0; - out_7023136226815456968[314] = 0; - out_7023136226815456968[315] = 0; - out_7023136226815456968[316] = 0; - out_7023136226815456968[317] = 0; - out_7023136226815456968[318] = 0; - out_7023136226815456968[319] = 0; - out_7023136226815456968[320] = 0; - out_7023136226815456968[321] = 0; - out_7023136226815456968[322] = 0; - out_7023136226815456968[323] = 1; +void F_fun(double *state, double dt, double *out_4166989473592392013) { + out_4166989473592392013[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_4166989473592392013[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_4166989473592392013[2] = 0; + out_4166989473592392013[3] = 0; + out_4166989473592392013[4] = 0; + out_4166989473592392013[5] = 0; + out_4166989473592392013[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_4166989473592392013[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_4166989473592392013[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_4166989473592392013[9] = 0; + out_4166989473592392013[10] = 0; + out_4166989473592392013[11] = 0; + out_4166989473592392013[12] = 0; + out_4166989473592392013[13] = 0; + out_4166989473592392013[14] = 0; + out_4166989473592392013[15] = 0; + out_4166989473592392013[16] = 0; + out_4166989473592392013[17] = 0; + out_4166989473592392013[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_4166989473592392013[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_4166989473592392013[20] = 0; + out_4166989473592392013[21] = 0; + out_4166989473592392013[22] = 0; + out_4166989473592392013[23] = 0; + out_4166989473592392013[24] = 0; + out_4166989473592392013[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_4166989473592392013[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_4166989473592392013[27] = 0; + out_4166989473592392013[28] = 0; + out_4166989473592392013[29] = 0; + out_4166989473592392013[30] = 0; + out_4166989473592392013[31] = 0; + out_4166989473592392013[32] = 0; + out_4166989473592392013[33] = 0; + out_4166989473592392013[34] = 0; + out_4166989473592392013[35] = 0; + out_4166989473592392013[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_4166989473592392013[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_4166989473592392013[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_4166989473592392013[39] = 0; + out_4166989473592392013[40] = 0; + out_4166989473592392013[41] = 0; + out_4166989473592392013[42] = 0; + out_4166989473592392013[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_4166989473592392013[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_4166989473592392013[45] = 0; + out_4166989473592392013[46] = 0; + out_4166989473592392013[47] = 0; + out_4166989473592392013[48] = 0; + out_4166989473592392013[49] = 0; + out_4166989473592392013[50] = 0; + out_4166989473592392013[51] = 0; + out_4166989473592392013[52] = 0; + out_4166989473592392013[53] = 0; + out_4166989473592392013[54] = 0; + out_4166989473592392013[55] = 0; + out_4166989473592392013[56] = 0; + out_4166989473592392013[57] = 1; + out_4166989473592392013[58] = 0; + out_4166989473592392013[59] = 0; + out_4166989473592392013[60] = 0; + out_4166989473592392013[61] = 0; + out_4166989473592392013[62] = 0; + out_4166989473592392013[63] = 0; + out_4166989473592392013[64] = 0; + out_4166989473592392013[65] = 0; + out_4166989473592392013[66] = dt; + out_4166989473592392013[67] = 0; + out_4166989473592392013[68] = 0; + out_4166989473592392013[69] = 0; + out_4166989473592392013[70] = 0; + out_4166989473592392013[71] = 0; + out_4166989473592392013[72] = 0; + out_4166989473592392013[73] = 0; + out_4166989473592392013[74] = 0; + out_4166989473592392013[75] = 0; + out_4166989473592392013[76] = 1; + out_4166989473592392013[77] = 0; + out_4166989473592392013[78] = 0; + out_4166989473592392013[79] = 0; + out_4166989473592392013[80] = 0; + out_4166989473592392013[81] = 0; + out_4166989473592392013[82] = 0; + out_4166989473592392013[83] = 0; + out_4166989473592392013[84] = 0; + out_4166989473592392013[85] = dt; + out_4166989473592392013[86] = 0; + out_4166989473592392013[87] = 0; + out_4166989473592392013[88] = 0; + out_4166989473592392013[89] = 0; + out_4166989473592392013[90] = 0; + out_4166989473592392013[91] = 0; + out_4166989473592392013[92] = 0; + out_4166989473592392013[93] = 0; + out_4166989473592392013[94] = 0; + out_4166989473592392013[95] = 1; + out_4166989473592392013[96] = 0; + out_4166989473592392013[97] = 0; + out_4166989473592392013[98] = 0; + out_4166989473592392013[99] = 0; + out_4166989473592392013[100] = 0; + out_4166989473592392013[101] = 0; + out_4166989473592392013[102] = 0; + out_4166989473592392013[103] = 0; + out_4166989473592392013[104] = dt; + out_4166989473592392013[105] = 0; + out_4166989473592392013[106] = 0; + out_4166989473592392013[107] = 0; + out_4166989473592392013[108] = 0; + out_4166989473592392013[109] = 0; + out_4166989473592392013[110] = 0; + out_4166989473592392013[111] = 0; + out_4166989473592392013[112] = 0; + out_4166989473592392013[113] = 0; + out_4166989473592392013[114] = 1; + out_4166989473592392013[115] = 0; + out_4166989473592392013[116] = 0; + out_4166989473592392013[117] = 0; + out_4166989473592392013[118] = 0; + out_4166989473592392013[119] = 0; + out_4166989473592392013[120] = 0; + out_4166989473592392013[121] = 0; + out_4166989473592392013[122] = 0; + out_4166989473592392013[123] = 0; + out_4166989473592392013[124] = 0; + out_4166989473592392013[125] = 0; + out_4166989473592392013[126] = 0; + out_4166989473592392013[127] = 0; + out_4166989473592392013[128] = 0; + out_4166989473592392013[129] = 0; + out_4166989473592392013[130] = 0; + out_4166989473592392013[131] = 0; + out_4166989473592392013[132] = 0; + out_4166989473592392013[133] = 1; + out_4166989473592392013[134] = 0; + out_4166989473592392013[135] = 0; + out_4166989473592392013[136] = 0; + out_4166989473592392013[137] = 0; + out_4166989473592392013[138] = 0; + out_4166989473592392013[139] = 0; + out_4166989473592392013[140] = 0; + out_4166989473592392013[141] = 0; + out_4166989473592392013[142] = 0; + out_4166989473592392013[143] = 0; + out_4166989473592392013[144] = 0; + out_4166989473592392013[145] = 0; + out_4166989473592392013[146] = 0; + out_4166989473592392013[147] = 0; + out_4166989473592392013[148] = 0; + out_4166989473592392013[149] = 0; + out_4166989473592392013[150] = 0; + out_4166989473592392013[151] = 0; + out_4166989473592392013[152] = 1; + out_4166989473592392013[153] = 0; + out_4166989473592392013[154] = 0; + out_4166989473592392013[155] = 0; + out_4166989473592392013[156] = 0; + out_4166989473592392013[157] = 0; + out_4166989473592392013[158] = 0; + out_4166989473592392013[159] = 0; + out_4166989473592392013[160] = 0; + out_4166989473592392013[161] = 0; + out_4166989473592392013[162] = 0; + out_4166989473592392013[163] = 0; + out_4166989473592392013[164] = 0; + out_4166989473592392013[165] = 0; + out_4166989473592392013[166] = 0; + out_4166989473592392013[167] = 0; + out_4166989473592392013[168] = 0; + out_4166989473592392013[169] = 0; + out_4166989473592392013[170] = 0; + out_4166989473592392013[171] = 1; + out_4166989473592392013[172] = 0; + out_4166989473592392013[173] = 0; + out_4166989473592392013[174] = 0; + out_4166989473592392013[175] = 0; + out_4166989473592392013[176] = 0; + out_4166989473592392013[177] = 0; + out_4166989473592392013[178] = 0; + out_4166989473592392013[179] = 0; + out_4166989473592392013[180] = 0; + out_4166989473592392013[181] = 0; + out_4166989473592392013[182] = 0; + out_4166989473592392013[183] = 0; + out_4166989473592392013[184] = 0; + out_4166989473592392013[185] = 0; + out_4166989473592392013[186] = 0; + out_4166989473592392013[187] = 0; + out_4166989473592392013[188] = 0; + out_4166989473592392013[189] = 0; + out_4166989473592392013[190] = 1; + out_4166989473592392013[191] = 0; + out_4166989473592392013[192] = 0; + out_4166989473592392013[193] = 0; + out_4166989473592392013[194] = 0; + out_4166989473592392013[195] = 0; + out_4166989473592392013[196] = 0; + out_4166989473592392013[197] = 0; + out_4166989473592392013[198] = 0; + out_4166989473592392013[199] = 0; + out_4166989473592392013[200] = 0; + out_4166989473592392013[201] = 0; + out_4166989473592392013[202] = 0; + out_4166989473592392013[203] = 0; + out_4166989473592392013[204] = 0; + out_4166989473592392013[205] = 0; + out_4166989473592392013[206] = 0; + out_4166989473592392013[207] = 0; + out_4166989473592392013[208] = 0; + out_4166989473592392013[209] = 1; + out_4166989473592392013[210] = 0; + out_4166989473592392013[211] = 0; + out_4166989473592392013[212] = 0; + out_4166989473592392013[213] = 0; + out_4166989473592392013[214] = 0; + out_4166989473592392013[215] = 0; + out_4166989473592392013[216] = 0; + out_4166989473592392013[217] = 0; + out_4166989473592392013[218] = 0; + out_4166989473592392013[219] = 0; + out_4166989473592392013[220] = 0; + out_4166989473592392013[221] = 0; + out_4166989473592392013[222] = 0; + out_4166989473592392013[223] = 0; + out_4166989473592392013[224] = 0; + out_4166989473592392013[225] = 0; + out_4166989473592392013[226] = 0; + out_4166989473592392013[227] = 0; + out_4166989473592392013[228] = 1; + out_4166989473592392013[229] = 0; + out_4166989473592392013[230] = 0; + out_4166989473592392013[231] = 0; + out_4166989473592392013[232] = 0; + out_4166989473592392013[233] = 0; + out_4166989473592392013[234] = 0; + out_4166989473592392013[235] = 0; + out_4166989473592392013[236] = 0; + out_4166989473592392013[237] = 0; + out_4166989473592392013[238] = 0; + out_4166989473592392013[239] = 0; + out_4166989473592392013[240] = 0; + out_4166989473592392013[241] = 0; + out_4166989473592392013[242] = 0; + out_4166989473592392013[243] = 0; + out_4166989473592392013[244] = 0; + out_4166989473592392013[245] = 0; + out_4166989473592392013[246] = 0; + out_4166989473592392013[247] = 1; + out_4166989473592392013[248] = 0; + out_4166989473592392013[249] = 0; + out_4166989473592392013[250] = 0; + out_4166989473592392013[251] = 0; + out_4166989473592392013[252] = 0; + out_4166989473592392013[253] = 0; + out_4166989473592392013[254] = 0; + out_4166989473592392013[255] = 0; + out_4166989473592392013[256] = 0; + out_4166989473592392013[257] = 0; + out_4166989473592392013[258] = 0; + out_4166989473592392013[259] = 0; + out_4166989473592392013[260] = 0; + out_4166989473592392013[261] = 0; + out_4166989473592392013[262] = 0; + out_4166989473592392013[263] = 0; + out_4166989473592392013[264] = 0; + out_4166989473592392013[265] = 0; + out_4166989473592392013[266] = 1; + out_4166989473592392013[267] = 0; + out_4166989473592392013[268] = 0; + out_4166989473592392013[269] = 0; + out_4166989473592392013[270] = 0; + out_4166989473592392013[271] = 0; + out_4166989473592392013[272] = 0; + out_4166989473592392013[273] = 0; + out_4166989473592392013[274] = 0; + out_4166989473592392013[275] = 0; + out_4166989473592392013[276] = 0; + out_4166989473592392013[277] = 0; + out_4166989473592392013[278] = 0; + out_4166989473592392013[279] = 0; + out_4166989473592392013[280] = 0; + out_4166989473592392013[281] = 0; + out_4166989473592392013[282] = 0; + out_4166989473592392013[283] = 0; + out_4166989473592392013[284] = 0; + out_4166989473592392013[285] = 1; + out_4166989473592392013[286] = 0; + out_4166989473592392013[287] = 0; + out_4166989473592392013[288] = 0; + out_4166989473592392013[289] = 0; + out_4166989473592392013[290] = 0; + out_4166989473592392013[291] = 0; + out_4166989473592392013[292] = 0; + out_4166989473592392013[293] = 0; + out_4166989473592392013[294] = 0; + out_4166989473592392013[295] = 0; + out_4166989473592392013[296] = 0; + out_4166989473592392013[297] = 0; + out_4166989473592392013[298] = 0; + out_4166989473592392013[299] = 0; + out_4166989473592392013[300] = 0; + out_4166989473592392013[301] = 0; + out_4166989473592392013[302] = 0; + out_4166989473592392013[303] = 0; + out_4166989473592392013[304] = 1; + out_4166989473592392013[305] = 0; + out_4166989473592392013[306] = 0; + out_4166989473592392013[307] = 0; + out_4166989473592392013[308] = 0; + out_4166989473592392013[309] = 0; + out_4166989473592392013[310] = 0; + out_4166989473592392013[311] = 0; + out_4166989473592392013[312] = 0; + out_4166989473592392013[313] = 0; + out_4166989473592392013[314] = 0; + out_4166989473592392013[315] = 0; + out_4166989473592392013[316] = 0; + out_4166989473592392013[317] = 0; + out_4166989473592392013[318] = 0; + out_4166989473592392013[319] = 0; + out_4166989473592392013[320] = 0; + out_4166989473592392013[321] = 0; + out_4166989473592392013[322] = 0; + out_4166989473592392013[323] = 1; } -void h_4(double *state, double *unused, double *out_4588754796686824329) { - out_4588754796686824329[0] = state[6] + state[9]; - out_4588754796686824329[1] = state[7] + state[10]; - out_4588754796686824329[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_800785631088066019) { + out_800785631088066019[0] = state[6] + state[9]; + out_800785631088066019[1] = state[7] + state[10]; + out_800785631088066019[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_6094990518542475575) { - out_6094990518542475575[0] = 0; - out_6094990518542475575[1] = 0; - out_6094990518542475575[2] = 0; - out_6094990518542475575[3] = 0; - out_6094990518542475575[4] = 0; - out_6094990518542475575[5] = 0; - out_6094990518542475575[6] = 1; - out_6094990518542475575[7] = 0; - out_6094990518542475575[8] = 0; - out_6094990518542475575[9] = 1; - out_6094990518542475575[10] = 0; - out_6094990518542475575[11] = 0; - out_6094990518542475575[12] = 0; - out_6094990518542475575[13] = 0; - out_6094990518542475575[14] = 0; - out_6094990518542475575[15] = 0; - out_6094990518542475575[16] = 0; - out_6094990518542475575[17] = 0; - out_6094990518542475575[18] = 0; - out_6094990518542475575[19] = 0; - out_6094990518542475575[20] = 0; - out_6094990518542475575[21] = 0; - out_6094990518542475575[22] = 0; - out_6094990518542475575[23] = 0; - out_6094990518542475575[24] = 0; - out_6094990518542475575[25] = 1; - out_6094990518542475575[26] = 0; - out_6094990518542475575[27] = 0; - out_6094990518542475575[28] = 1; - out_6094990518542475575[29] = 0; - out_6094990518542475575[30] = 0; - out_6094990518542475575[31] = 0; - out_6094990518542475575[32] = 0; - out_6094990518542475575[33] = 0; - out_6094990518542475575[34] = 0; - out_6094990518542475575[35] = 0; - out_6094990518542475575[36] = 0; - out_6094990518542475575[37] = 0; - out_6094990518542475575[38] = 0; - out_6094990518542475575[39] = 0; - out_6094990518542475575[40] = 0; - out_6094990518542475575[41] = 0; - out_6094990518542475575[42] = 0; - out_6094990518542475575[43] = 0; - out_6094990518542475575[44] = 1; - out_6094990518542475575[45] = 0; - out_6094990518542475575[46] = 0; - out_6094990518542475575[47] = 1; - out_6094990518542475575[48] = 0; - out_6094990518542475575[49] = 0; - out_6094990518542475575[50] = 0; - out_6094990518542475575[51] = 0; - out_6094990518542475575[52] = 0; - out_6094990518542475575[53] = 0; +void H_4(double *state, double *unused, double *out_2555861026626074297) { + out_2555861026626074297[0] = 0; + out_2555861026626074297[1] = 0; + out_2555861026626074297[2] = 0; + out_2555861026626074297[3] = 0; + out_2555861026626074297[4] = 0; + out_2555861026626074297[5] = 0; + out_2555861026626074297[6] = 1; + out_2555861026626074297[7] = 0; + out_2555861026626074297[8] = 0; + out_2555861026626074297[9] = 1; + out_2555861026626074297[10] = 0; + out_2555861026626074297[11] = 0; + out_2555861026626074297[12] = 0; + out_2555861026626074297[13] = 0; + out_2555861026626074297[14] = 0; + out_2555861026626074297[15] = 0; + out_2555861026626074297[16] = 0; + out_2555861026626074297[17] = 0; + out_2555861026626074297[18] = 0; + out_2555861026626074297[19] = 0; + out_2555861026626074297[20] = 0; + out_2555861026626074297[21] = 0; + out_2555861026626074297[22] = 0; + out_2555861026626074297[23] = 0; + out_2555861026626074297[24] = 0; + out_2555861026626074297[25] = 1; + out_2555861026626074297[26] = 0; + out_2555861026626074297[27] = 0; + out_2555861026626074297[28] = 1; + out_2555861026626074297[29] = 0; + out_2555861026626074297[30] = 0; + out_2555861026626074297[31] = 0; + out_2555861026626074297[32] = 0; + out_2555861026626074297[33] = 0; + out_2555861026626074297[34] = 0; + out_2555861026626074297[35] = 0; + out_2555861026626074297[36] = 0; + out_2555861026626074297[37] = 0; + out_2555861026626074297[38] = 0; + out_2555861026626074297[39] = 0; + out_2555861026626074297[40] = 0; + out_2555861026626074297[41] = 0; + out_2555861026626074297[42] = 0; + out_2555861026626074297[43] = 0; + out_2555861026626074297[44] = 1; + out_2555861026626074297[45] = 0; + out_2555861026626074297[46] = 0; + out_2555861026626074297[47] = 1; + out_2555861026626074297[48] = 0; + out_2555861026626074297[49] = 0; + out_2555861026626074297[50] = 0; + out_2555861026626074297[51] = 0; + out_2555861026626074297[52] = 0; + out_2555861026626074297[53] = 0; } -void h_10(double *state, double *unused, double *out_2376996171077473254) { - out_2376996171077473254[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_2376996171077473254[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_2376996171077473254[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_7585285090603906809) { + out_7585285090603906809[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7585285090603906809[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7585285090603906809[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_3986987343223994685) { - out_3986987343223994685[0] = 0; - out_3986987343223994685[1] = 9.8100000000000005*cos(state[1]); - out_3986987343223994685[2] = 0; - out_3986987343223994685[3] = 0; - out_3986987343223994685[4] = -state[8]; - out_3986987343223994685[5] = state[7]; - out_3986987343223994685[6] = 0; - out_3986987343223994685[7] = state[5]; - out_3986987343223994685[8] = -state[4]; - out_3986987343223994685[9] = 0; - out_3986987343223994685[10] = 0; - out_3986987343223994685[11] = 0; - out_3986987343223994685[12] = 1; - out_3986987343223994685[13] = 0; - out_3986987343223994685[14] = 0; - out_3986987343223994685[15] = 1; - out_3986987343223994685[16] = 0; - out_3986987343223994685[17] = 0; - out_3986987343223994685[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3986987343223994685[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3986987343223994685[20] = 0; - out_3986987343223994685[21] = state[8]; - out_3986987343223994685[22] = 0; - out_3986987343223994685[23] = -state[6]; - out_3986987343223994685[24] = -state[5]; - out_3986987343223994685[25] = 0; - out_3986987343223994685[26] = state[3]; - out_3986987343223994685[27] = 0; - out_3986987343223994685[28] = 0; - out_3986987343223994685[29] = 0; - out_3986987343223994685[30] = 0; - out_3986987343223994685[31] = 1; - out_3986987343223994685[32] = 0; - out_3986987343223994685[33] = 0; - out_3986987343223994685[34] = 1; - out_3986987343223994685[35] = 0; - out_3986987343223994685[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3986987343223994685[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3986987343223994685[38] = 0; - out_3986987343223994685[39] = -state[7]; - out_3986987343223994685[40] = state[6]; - out_3986987343223994685[41] = 0; - out_3986987343223994685[42] = state[4]; - out_3986987343223994685[43] = -state[3]; - out_3986987343223994685[44] = 0; - out_3986987343223994685[45] = 0; - out_3986987343223994685[46] = 0; - out_3986987343223994685[47] = 0; - out_3986987343223994685[48] = 0; - out_3986987343223994685[49] = 0; - out_3986987343223994685[50] = 1; - out_3986987343223994685[51] = 0; - out_3986987343223994685[52] = 0; - out_3986987343223994685[53] = 1; +void H_10(double *state, double *unused, double *out_6341548427213940478) { + out_6341548427213940478[0] = 0; + out_6341548427213940478[1] = 9.8100000000000005*cos(state[1]); + out_6341548427213940478[2] = 0; + out_6341548427213940478[3] = 0; + out_6341548427213940478[4] = -state[8]; + out_6341548427213940478[5] = state[7]; + out_6341548427213940478[6] = 0; + out_6341548427213940478[7] = state[5]; + out_6341548427213940478[8] = -state[4]; + out_6341548427213940478[9] = 0; + out_6341548427213940478[10] = 0; + out_6341548427213940478[11] = 0; + out_6341548427213940478[12] = 1; + out_6341548427213940478[13] = 0; + out_6341548427213940478[14] = 0; + out_6341548427213940478[15] = 1; + out_6341548427213940478[16] = 0; + out_6341548427213940478[17] = 0; + out_6341548427213940478[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6341548427213940478[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6341548427213940478[20] = 0; + out_6341548427213940478[21] = state[8]; + out_6341548427213940478[22] = 0; + out_6341548427213940478[23] = -state[6]; + out_6341548427213940478[24] = -state[5]; + out_6341548427213940478[25] = 0; + out_6341548427213940478[26] = state[3]; + out_6341548427213940478[27] = 0; + out_6341548427213940478[28] = 0; + out_6341548427213940478[29] = 0; + out_6341548427213940478[30] = 0; + out_6341548427213940478[31] = 1; + out_6341548427213940478[32] = 0; + out_6341548427213940478[33] = 0; + out_6341548427213940478[34] = 1; + out_6341548427213940478[35] = 0; + out_6341548427213940478[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6341548427213940478[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6341548427213940478[38] = 0; + out_6341548427213940478[39] = -state[7]; + out_6341548427213940478[40] = state[6]; + out_6341548427213940478[41] = 0; + out_6341548427213940478[42] = state[4]; + out_6341548427213940478[43] = -state[3]; + out_6341548427213940478[44] = 0; + out_6341548427213940478[45] = 0; + out_6341548427213940478[46] = 0; + out_6341548427213940478[47] = 0; + out_6341548427213940478[48] = 0; + out_6341548427213940478[49] = 0; + out_6341548427213940478[50] = 1; + out_6341548427213940478[51] = 0; + out_6341548427213940478[52] = 0; + out_6341548427213940478[53] = 1; } -void h_13(double *state, double *unused, double *out_4475690324738606342) { - out_4475690324738606342[0] = state[3]; - out_4475690324738606342[1] = state[4]; - out_4475690324738606342[2] = state[5]; +void h_13(double *state, double *unused, double *out_7888682643875678910) { + out_7888682643875678910[0] = state[3]; + out_7888682643875678910[1] = state[4]; + out_7888682643875678910[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1515640689774225354) { - out_1515640689774225354[0] = 0; - out_1515640689774225354[1] = 0; - out_1515640689774225354[2] = 0; - out_1515640689774225354[3] = 1; - out_1515640689774225354[4] = 0; - out_1515640689774225354[5] = 0; - out_1515640689774225354[6] = 0; - out_1515640689774225354[7] = 0; - out_1515640689774225354[8] = 0; - out_1515640689774225354[9] = 0; - out_1515640689774225354[10] = 0; - out_1515640689774225354[11] = 0; - out_1515640689774225354[12] = 0; - out_1515640689774225354[13] = 0; - out_1515640689774225354[14] = 0; - out_1515640689774225354[15] = 0; - out_1515640689774225354[16] = 0; - out_1515640689774225354[17] = 0; - out_1515640689774225354[18] = 0; - out_1515640689774225354[19] = 0; - out_1515640689774225354[20] = 0; - out_1515640689774225354[21] = 0; - out_1515640689774225354[22] = 1; - out_1515640689774225354[23] = 0; - out_1515640689774225354[24] = 0; - out_1515640689774225354[25] = 0; - out_1515640689774225354[26] = 0; - out_1515640689774225354[27] = 0; - out_1515640689774225354[28] = 0; - out_1515640689774225354[29] = 0; - out_1515640689774225354[30] = 0; - out_1515640689774225354[31] = 0; - out_1515640689774225354[32] = 0; - out_1515640689774225354[33] = 0; - out_1515640689774225354[34] = 0; - out_1515640689774225354[35] = 0; - out_1515640689774225354[36] = 0; - out_1515640689774225354[37] = 0; - out_1515640689774225354[38] = 0; - out_1515640689774225354[39] = 0; - out_1515640689774225354[40] = 0; - out_1515640689774225354[41] = 1; - out_1515640689774225354[42] = 0; - out_1515640689774225354[43] = 0; - out_1515640689774225354[44] = 0; - out_1515640689774225354[45] = 0; - out_1515640689774225354[46] = 0; - out_1515640689774225354[47] = 0; - out_1515640689774225354[48] = 0; - out_1515640689774225354[49] = 0; - out_1515640689774225354[50] = 0; - out_1515640689774225354[51] = 0; - out_1515640689774225354[52] = 0; - out_1515640689774225354[53] = 0; +void H_13(double *state, double *unused, double *out_5768134851958407098) { + out_5768134851958407098[0] = 0; + out_5768134851958407098[1] = 0; + out_5768134851958407098[2] = 0; + out_5768134851958407098[3] = 1; + out_5768134851958407098[4] = 0; + out_5768134851958407098[5] = 0; + out_5768134851958407098[6] = 0; + out_5768134851958407098[7] = 0; + out_5768134851958407098[8] = 0; + out_5768134851958407098[9] = 0; + out_5768134851958407098[10] = 0; + out_5768134851958407098[11] = 0; + out_5768134851958407098[12] = 0; + out_5768134851958407098[13] = 0; + out_5768134851958407098[14] = 0; + out_5768134851958407098[15] = 0; + out_5768134851958407098[16] = 0; + out_5768134851958407098[17] = 0; + out_5768134851958407098[18] = 0; + out_5768134851958407098[19] = 0; + out_5768134851958407098[20] = 0; + out_5768134851958407098[21] = 0; + out_5768134851958407098[22] = 1; + out_5768134851958407098[23] = 0; + out_5768134851958407098[24] = 0; + out_5768134851958407098[25] = 0; + out_5768134851958407098[26] = 0; + out_5768134851958407098[27] = 0; + out_5768134851958407098[28] = 0; + out_5768134851958407098[29] = 0; + out_5768134851958407098[30] = 0; + out_5768134851958407098[31] = 0; + out_5768134851958407098[32] = 0; + out_5768134851958407098[33] = 0; + out_5768134851958407098[34] = 0; + out_5768134851958407098[35] = 0; + out_5768134851958407098[36] = 0; + out_5768134851958407098[37] = 0; + out_5768134851958407098[38] = 0; + out_5768134851958407098[39] = 0; + out_5768134851958407098[40] = 0; + out_5768134851958407098[41] = 1; + out_5768134851958407098[42] = 0; + out_5768134851958407098[43] = 0; + out_5768134851958407098[44] = 0; + out_5768134851958407098[45] = 0; + out_5768134851958407098[46] = 0; + out_5768134851958407098[47] = 0; + out_5768134851958407098[48] = 0; + out_5768134851958407098[49] = 0; + out_5768134851958407098[50] = 0; + out_5768134851958407098[51] = 0; + out_5768134851958407098[52] = 0; + out_5768134851958407098[53] = 0; } -void h_14(double *state, double *unused, double *out_4137331969092828561) { - out_4137331969092828561[0] = state[6]; - out_4137331969092828561[1] = state[7]; - out_4137331969092828561[2] = state[8]; +void h_14(double *state, double *unused, double *out_3441729687180753414) { + out_3441729687180753414[0] = state[6]; + out_3441729687180753414[1] = state[7]; + out_3441729687180753414[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2131749662202991046) { - out_2131749662202991046[0] = 0; - out_2131749662202991046[1] = 0; - out_2131749662202991046[2] = 0; - out_2131749662202991046[3] = 0; - out_2131749662202991046[4] = 0; - out_2131749662202991046[5] = 0; - out_2131749662202991046[6] = 1; - out_2131749662202991046[7] = 0; - out_2131749662202991046[8] = 0; - out_2131749662202991046[9] = 0; - out_2131749662202991046[10] = 0; - out_2131749662202991046[11] = 0; - out_2131749662202991046[12] = 0; - out_2131749662202991046[13] = 0; - out_2131749662202991046[14] = 0; - out_2131749662202991046[15] = 0; - out_2131749662202991046[16] = 0; - out_2131749662202991046[17] = 0; - out_2131749662202991046[18] = 0; - out_2131749662202991046[19] = 0; - out_2131749662202991046[20] = 0; - out_2131749662202991046[21] = 0; - out_2131749662202991046[22] = 0; - out_2131749662202991046[23] = 0; - out_2131749662202991046[24] = 0; - out_2131749662202991046[25] = 1; - out_2131749662202991046[26] = 0; - out_2131749662202991046[27] = 0; - out_2131749662202991046[28] = 0; - out_2131749662202991046[29] = 0; - out_2131749662202991046[30] = 0; - out_2131749662202991046[31] = 0; - out_2131749662202991046[32] = 0; - out_2131749662202991046[33] = 0; - out_2131749662202991046[34] = 0; - out_2131749662202991046[35] = 0; - out_2131749662202991046[36] = 0; - out_2131749662202991046[37] = 0; - out_2131749662202991046[38] = 0; - out_2131749662202991046[39] = 0; - out_2131749662202991046[40] = 0; - out_2131749662202991046[41] = 0; - out_2131749662202991046[42] = 0; - out_2131749662202991046[43] = 0; - out_2131749662202991046[44] = 1; - out_2131749662202991046[45] = 0; - out_2131749662202991046[46] = 0; - out_2131749662202991046[47] = 0; - out_2131749662202991046[48] = 0; - out_2131749662202991046[49] = 0; - out_2131749662202991046[50] = 0; - out_2131749662202991046[51] = 0; - out_2131749662202991046[52] = 0; - out_2131749662202991046[53] = 0; +void H_14(double *state, double *unused, double *out_4925284788653666127) { + out_4925284788653666127[0] = 0; + out_4925284788653666127[1] = 0; + out_4925284788653666127[2] = 0; + out_4925284788653666127[3] = 0; + out_4925284788653666127[4] = 0; + out_4925284788653666127[5] = 0; + out_4925284788653666127[6] = 1; + out_4925284788653666127[7] = 0; + out_4925284788653666127[8] = 0; + out_4925284788653666127[9] = 0; + out_4925284788653666127[10] = 0; + out_4925284788653666127[11] = 0; + out_4925284788653666127[12] = 0; + out_4925284788653666127[13] = 0; + out_4925284788653666127[14] = 0; + out_4925284788653666127[15] = 0; + out_4925284788653666127[16] = 0; + out_4925284788653666127[17] = 0; + out_4925284788653666127[18] = 0; + out_4925284788653666127[19] = 0; + out_4925284788653666127[20] = 0; + out_4925284788653666127[21] = 0; + out_4925284788653666127[22] = 0; + out_4925284788653666127[23] = 0; + out_4925284788653666127[24] = 0; + out_4925284788653666127[25] = 1; + out_4925284788653666127[26] = 0; + out_4925284788653666127[27] = 0; + out_4925284788653666127[28] = 0; + out_4925284788653666127[29] = 0; + out_4925284788653666127[30] = 0; + out_4925284788653666127[31] = 0; + out_4925284788653666127[32] = 0; + out_4925284788653666127[33] = 0; + out_4925284788653666127[34] = 0; + out_4925284788653666127[35] = 0; + out_4925284788653666127[36] = 0; + out_4925284788653666127[37] = 0; + out_4925284788653666127[38] = 0; + out_4925284788653666127[39] = 0; + out_4925284788653666127[40] = 0; + out_4925284788653666127[41] = 0; + out_4925284788653666127[42] = 0; + out_4925284788653666127[43] = 0; + out_4925284788653666127[44] = 1; + out_4925284788653666127[45] = 0; + out_4925284788653666127[46] = 0; + out_4925284788653666127[47] = 0; + out_4925284788653666127[48] = 0; + out_4925284788653666127[49] = 0; + out_4925284788653666127[50] = 0; + out_4925284788653666127[51] = 0; + out_4925284788653666127[52] = 0; + out_4925284788653666127[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_7136046097392635975) { - err_fun(nom_x, delta_x, out_7136046097392635975); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4860250714300227404) { + err_fun(nom_x, delta_x, out_4860250714300227404); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7829757394788773504) { - inv_err_fun(nom_x, true_x, out_7829757394788773504); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6437944255548658708) { + inv_err_fun(nom_x, true_x, out_6437944255548658708); } -void pose_H_mod_fun(double *state, double *out_4151448671193851274) { - H_mod_fun(state, out_4151448671193851274); +void pose_H_mod_fun(double *state, double *out_22797630451996970) { + H_mod_fun(state, out_22797630451996970); } -void pose_f_fun(double *state, double dt, double *out_1642603653923874431) { - f_fun(state, dt, out_1642603653923874431); +void pose_f_fun(double *state, double dt, double *out_2362837524605346595) { + f_fun(state, dt, out_2362837524605346595); } -void pose_F_fun(double *state, double dt, double *out_7023136226815456968) { - F_fun(state, dt, out_7023136226815456968); +void pose_F_fun(double *state, double dt, double *out_4166989473592392013) { + F_fun(state, dt, out_4166989473592392013); } -void pose_h_4(double *state, double *unused, double *out_4588754796686824329) { - h_4(state, unused, out_4588754796686824329); +void pose_h_4(double *state, double *unused, double *out_800785631088066019) { + h_4(state, unused, out_800785631088066019); } -void pose_H_4(double *state, double *unused, double *out_6094990518542475575) { - H_4(state, unused, out_6094990518542475575); +void pose_H_4(double *state, double *unused, double *out_2555861026626074297) { + H_4(state, unused, out_2555861026626074297); } -void pose_h_10(double *state, double *unused, double *out_2376996171077473254) { - h_10(state, unused, out_2376996171077473254); +void pose_h_10(double *state, double *unused, double *out_7585285090603906809) { + h_10(state, unused, out_7585285090603906809); } -void pose_H_10(double *state, double *unused, double *out_3986987343223994685) { - H_10(state, unused, out_3986987343223994685); +void pose_H_10(double *state, double *unused, double *out_6341548427213940478) { + H_10(state, unused, out_6341548427213940478); } -void pose_h_13(double *state, double *unused, double *out_4475690324738606342) { - h_13(state, unused, out_4475690324738606342); +void pose_h_13(double *state, double *unused, double *out_7888682643875678910) { + h_13(state, unused, out_7888682643875678910); } -void pose_H_13(double *state, double *unused, double *out_1515640689774225354) { - H_13(state, unused, out_1515640689774225354); +void pose_H_13(double *state, double *unused, double *out_5768134851958407098) { + H_13(state, unused, out_5768134851958407098); } -void pose_h_14(double *state, double *unused, double *out_4137331969092828561) { - h_14(state, unused, out_4137331969092828561); +void pose_h_14(double *state, double *unused, double *out_3441729687180753414) { + h_14(state, unused, out_3441729687180753414); } -void pose_H_14(double *state, double *unused, double *out_2131749662202991046) { - H_14(state, unused, out_2131749662202991046); +void pose_H_14(double *state, double *unused, double *out_4925284788653666127) { + H_14(state, unused, out_4925284788653666127); } 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 778c7e725..6f5c2b92a 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_7136046097392635975); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7829757394788773504); -void pose_H_mod_fun(double *state, double *out_4151448671193851274); -void pose_f_fun(double *state, double dt, double *out_1642603653923874431); -void pose_F_fun(double *state, double dt, double *out_7023136226815456968); -void pose_h_4(double *state, double *unused, double *out_4588754796686824329); -void pose_H_4(double *state, double *unused, double *out_6094990518542475575); -void pose_h_10(double *state, double *unused, double *out_2376996171077473254); -void pose_H_10(double *state, double *unused, double *out_3986987343223994685); -void pose_h_13(double *state, double *unused, double *out_4475690324738606342); -void pose_H_13(double *state, double *unused, double *out_1515640689774225354); -void pose_h_14(double *state, double *unused, double *out_4137331969092828561); -void pose_H_14(double *state, double *unused, double *out_2131749662202991046); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4860250714300227404); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6437944255548658708); +void pose_H_mod_fun(double *state, double *out_22797630451996970); +void pose_f_fun(double *state, double dt, double *out_2362837524605346595); +void pose_F_fun(double *state, double dt, double *out_4166989473592392013); +void pose_h_4(double *state, double *unused, double *out_800785631088066019); +void pose_H_4(double *state, double *unused, double *out_2555861026626074297); +void pose_h_10(double *state, double *unused, double *out_7585285090603906809); +void pose_H_10(double *state, double *unused, double *out_6341548427213940478); +void pose_h_13(double *state, double *unused, double *out_7888682643875678910); +void pose_H_13(double *state, double *unused, double *out_5768134851958407098); +void pose_h_14(double *state, double *unused, double *out_3441729687180753414); +void pose_H_14(double *state, double *unused, double *out_4925284788653666127); 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 c498f0954..f28b07163 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 99d2c8d1f..2de66e6c7 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index a85f57eb2..fae1d6ca3 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 4310904d8..2eb822462 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 74b280300..a7eb3ff90 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ