diff --git a/cereal/libcereal.a b/cereal/libcereal.a index 777b24147..a64ffab17 100644 Binary files a/cereal/libcereal.a and b/cereal/libcereal.a differ diff --git a/common/libcommon.a b/common/libcommon.a index 2a6e809fc..86b28a2fc 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 dfe2034b2..c405a0ef6 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 20ceb8d81..ae2af9294 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 fc609e3f9..81bc5eb02 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 e61750cf2..c9f7fa166 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 46ac36ab7..83f593f36 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 28a646d93..de6fcdf52 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 8de2c338e..7ed7b9596 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 8de2c338e..7ed7b9596 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 cba96ecd5..322aeaa1d 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 cba96ecd5..322aeaa1d 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 cba96ecd5..322aeaa1d 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 cba96ecd5..322aeaa1d 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 cba96ecd5..322aeaa1d 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 cba96ecd5..322aeaa1d 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 8de2c338e..7ed7b9596 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 8de2c338e..7ed7b9596 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 de9e0d5f6..0e4fa3992 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 8de2c338e..7ed7b9596 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 8de2c338e..7ed7b9596 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 baa5cc0ef..175285eee 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-230ed14e-DEBUG"; +const uint8_t gitversion[19] = "DEV-f57a7f36-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index c69a376fd..b764d32c5 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 5eb23aeb7..4ab861622 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 dca8793bf..745922a87 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 400e92d1e..f9035a7d0 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 92915527c..cde46fd75 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 d74eeb05e..dd46dd860 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 333fa347d..b3c3bfabf 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 614f997fe..45162bd0f 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 eb5c92f6f..0893734f1 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 ae6009cc1..fa21967dc 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 b65ce6803..148bafadc 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 925556659..6429ae546 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 6f220a7d2..4eaccb866 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 62e4c35fc..ff9c9d4f9 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 ab15e28b1..aeb5f8577 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 2ec3747be..a9d3c510d 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 8b9e13478..140d0fd20 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 be78fd03c..e0eb2d7f9 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 af5c7f8d0..d12ac9c85 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 58d34b3a1..d86666a54 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 46bec1698..400a7ff70 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 8ac0e9099..a9617f35a 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 0738f17c0..3ccae6d07 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 0ce5e181e..50dec69c8 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 73d70b5ba..e5738df6b 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 ffbe8991c..4fd27dcef 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 1296530c9..9cc47164f 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 96bcc4276..c53c90710 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 8e5409da4..e627d3b7a 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 96e659218..9d1b86802 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 77aed1210..b29484baf 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 93e002c62..4b66cb9c2 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 ea461d2d6..b03a5c31d 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 5c456bb71..a8aed5768 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 bf4742be2..403dab23c 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 cdf5bafe6..0c3a0821f 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 d4ca86f0b..ddda8a6a4 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 fc25864dd..c548e8bdc 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 364489c4e..de6f0ac61 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 d29f60827..37b9af4a0 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 c4d800bde..add10e0ed 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 3ccf83d93..a4097bf6f 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 5bb437c6e..fae012c6b 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 dd5020d5a..80c80ce98 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 37ef7886e..7c95b6f1a 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 bb734314e..dd1d05b15 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 d89b0b56f..b1288e0b9 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 d661cce9d..0f8d94a25 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 fbd1f9c76..583174396 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 26d47b4c3..ad9e5251c 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 d06c859ff..3e42823a7 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 8f2fe2b54..25072dc69 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 dd978cab4..762474c75 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-230ed14e-DEBUG +DEV-f57a7f36-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 250aa3b4b..2a7e9970d 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_3009395508469456389) { - out_3009395508469456389[0] = delta_x[0] + nom_x[0]; - out_3009395508469456389[1] = delta_x[1] + nom_x[1]; - out_3009395508469456389[2] = delta_x[2] + nom_x[2]; - out_3009395508469456389[3] = delta_x[3] + nom_x[3]; - out_3009395508469456389[4] = delta_x[4] + nom_x[4]; - out_3009395508469456389[5] = delta_x[5] + nom_x[5]; - out_3009395508469456389[6] = delta_x[6] + nom_x[6]; - out_3009395508469456389[7] = delta_x[7] + nom_x[7]; - out_3009395508469456389[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3239626159248919555) { + out_3239626159248919555[0] = delta_x[0] + nom_x[0]; + out_3239626159248919555[1] = delta_x[1] + nom_x[1]; + out_3239626159248919555[2] = delta_x[2] + nom_x[2]; + out_3239626159248919555[3] = delta_x[3] + nom_x[3]; + out_3239626159248919555[4] = delta_x[4] + nom_x[4]; + out_3239626159248919555[5] = delta_x[5] + nom_x[5]; + out_3239626159248919555[6] = delta_x[6] + nom_x[6]; + out_3239626159248919555[7] = delta_x[7] + nom_x[7]; + out_3239626159248919555[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063) { - out_6058691817726549063[0] = -nom_x[0] + true_x[0]; - out_6058691817726549063[1] = -nom_x[1] + true_x[1]; - out_6058691817726549063[2] = -nom_x[2] + true_x[2]; - out_6058691817726549063[3] = -nom_x[3] + true_x[3]; - out_6058691817726549063[4] = -nom_x[4] + true_x[4]; - out_6058691817726549063[5] = -nom_x[5] + true_x[5]; - out_6058691817726549063[6] = -nom_x[6] + true_x[6]; - out_6058691817726549063[7] = -nom_x[7] + true_x[7]; - out_6058691817726549063[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837) { + out_7776805117874316837[0] = -nom_x[0] + true_x[0]; + out_7776805117874316837[1] = -nom_x[1] + true_x[1]; + out_7776805117874316837[2] = -nom_x[2] + true_x[2]; + out_7776805117874316837[3] = -nom_x[3] + true_x[3]; + out_7776805117874316837[4] = -nom_x[4] + true_x[4]; + out_7776805117874316837[5] = -nom_x[5] + true_x[5]; + out_7776805117874316837[6] = -nom_x[6] + true_x[6]; + out_7776805117874316837[7] = -nom_x[7] + true_x[7]; + out_7776805117874316837[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_6620632585560778509) { - out_6620632585560778509[0] = 1.0; - out_6620632585560778509[1] = 0.0; - out_6620632585560778509[2] = 0.0; - out_6620632585560778509[3] = 0.0; - out_6620632585560778509[4] = 0.0; - out_6620632585560778509[5] = 0.0; - out_6620632585560778509[6] = 0.0; - out_6620632585560778509[7] = 0.0; - out_6620632585560778509[8] = 0.0; - out_6620632585560778509[9] = 0.0; - out_6620632585560778509[10] = 1.0; - out_6620632585560778509[11] = 0.0; - out_6620632585560778509[12] = 0.0; - out_6620632585560778509[13] = 0.0; - out_6620632585560778509[14] = 0.0; - out_6620632585560778509[15] = 0.0; - out_6620632585560778509[16] = 0.0; - out_6620632585560778509[17] = 0.0; - out_6620632585560778509[18] = 0.0; - out_6620632585560778509[19] = 0.0; - out_6620632585560778509[20] = 1.0; - out_6620632585560778509[21] = 0.0; - out_6620632585560778509[22] = 0.0; - out_6620632585560778509[23] = 0.0; - out_6620632585560778509[24] = 0.0; - out_6620632585560778509[25] = 0.0; - out_6620632585560778509[26] = 0.0; - out_6620632585560778509[27] = 0.0; - out_6620632585560778509[28] = 0.0; - out_6620632585560778509[29] = 0.0; - out_6620632585560778509[30] = 1.0; - out_6620632585560778509[31] = 0.0; - out_6620632585560778509[32] = 0.0; - out_6620632585560778509[33] = 0.0; - out_6620632585560778509[34] = 0.0; - out_6620632585560778509[35] = 0.0; - out_6620632585560778509[36] = 0.0; - out_6620632585560778509[37] = 0.0; - out_6620632585560778509[38] = 0.0; - out_6620632585560778509[39] = 0.0; - out_6620632585560778509[40] = 1.0; - out_6620632585560778509[41] = 0.0; - out_6620632585560778509[42] = 0.0; - out_6620632585560778509[43] = 0.0; - out_6620632585560778509[44] = 0.0; - out_6620632585560778509[45] = 0.0; - out_6620632585560778509[46] = 0.0; - out_6620632585560778509[47] = 0.0; - out_6620632585560778509[48] = 0.0; - out_6620632585560778509[49] = 0.0; - out_6620632585560778509[50] = 1.0; - out_6620632585560778509[51] = 0.0; - out_6620632585560778509[52] = 0.0; - out_6620632585560778509[53] = 0.0; - out_6620632585560778509[54] = 0.0; - out_6620632585560778509[55] = 0.0; - out_6620632585560778509[56] = 0.0; - out_6620632585560778509[57] = 0.0; - out_6620632585560778509[58] = 0.0; - out_6620632585560778509[59] = 0.0; - out_6620632585560778509[60] = 1.0; - out_6620632585560778509[61] = 0.0; - out_6620632585560778509[62] = 0.0; - out_6620632585560778509[63] = 0.0; - out_6620632585560778509[64] = 0.0; - out_6620632585560778509[65] = 0.0; - out_6620632585560778509[66] = 0.0; - out_6620632585560778509[67] = 0.0; - out_6620632585560778509[68] = 0.0; - out_6620632585560778509[69] = 0.0; - out_6620632585560778509[70] = 1.0; - out_6620632585560778509[71] = 0.0; - out_6620632585560778509[72] = 0.0; - out_6620632585560778509[73] = 0.0; - out_6620632585560778509[74] = 0.0; - out_6620632585560778509[75] = 0.0; - out_6620632585560778509[76] = 0.0; - out_6620632585560778509[77] = 0.0; - out_6620632585560778509[78] = 0.0; - out_6620632585560778509[79] = 0.0; - out_6620632585560778509[80] = 1.0; +void H_mod_fun(double *state, double *out_857826347354799703) { + out_857826347354799703[0] = 1.0; + out_857826347354799703[1] = 0.0; + out_857826347354799703[2] = 0.0; + out_857826347354799703[3] = 0.0; + out_857826347354799703[4] = 0.0; + out_857826347354799703[5] = 0.0; + out_857826347354799703[6] = 0.0; + out_857826347354799703[7] = 0.0; + out_857826347354799703[8] = 0.0; + out_857826347354799703[9] = 0.0; + out_857826347354799703[10] = 1.0; + out_857826347354799703[11] = 0.0; + out_857826347354799703[12] = 0.0; + out_857826347354799703[13] = 0.0; + out_857826347354799703[14] = 0.0; + out_857826347354799703[15] = 0.0; + out_857826347354799703[16] = 0.0; + out_857826347354799703[17] = 0.0; + out_857826347354799703[18] = 0.0; + out_857826347354799703[19] = 0.0; + out_857826347354799703[20] = 1.0; + out_857826347354799703[21] = 0.0; + out_857826347354799703[22] = 0.0; + out_857826347354799703[23] = 0.0; + out_857826347354799703[24] = 0.0; + out_857826347354799703[25] = 0.0; + out_857826347354799703[26] = 0.0; + out_857826347354799703[27] = 0.0; + out_857826347354799703[28] = 0.0; + out_857826347354799703[29] = 0.0; + out_857826347354799703[30] = 1.0; + out_857826347354799703[31] = 0.0; + out_857826347354799703[32] = 0.0; + out_857826347354799703[33] = 0.0; + out_857826347354799703[34] = 0.0; + out_857826347354799703[35] = 0.0; + out_857826347354799703[36] = 0.0; + out_857826347354799703[37] = 0.0; + out_857826347354799703[38] = 0.0; + out_857826347354799703[39] = 0.0; + out_857826347354799703[40] = 1.0; + out_857826347354799703[41] = 0.0; + out_857826347354799703[42] = 0.0; + out_857826347354799703[43] = 0.0; + out_857826347354799703[44] = 0.0; + out_857826347354799703[45] = 0.0; + out_857826347354799703[46] = 0.0; + out_857826347354799703[47] = 0.0; + out_857826347354799703[48] = 0.0; + out_857826347354799703[49] = 0.0; + out_857826347354799703[50] = 1.0; + out_857826347354799703[51] = 0.0; + out_857826347354799703[52] = 0.0; + out_857826347354799703[53] = 0.0; + out_857826347354799703[54] = 0.0; + out_857826347354799703[55] = 0.0; + out_857826347354799703[56] = 0.0; + out_857826347354799703[57] = 0.0; + out_857826347354799703[58] = 0.0; + out_857826347354799703[59] = 0.0; + out_857826347354799703[60] = 1.0; + out_857826347354799703[61] = 0.0; + out_857826347354799703[62] = 0.0; + out_857826347354799703[63] = 0.0; + out_857826347354799703[64] = 0.0; + out_857826347354799703[65] = 0.0; + out_857826347354799703[66] = 0.0; + out_857826347354799703[67] = 0.0; + out_857826347354799703[68] = 0.0; + out_857826347354799703[69] = 0.0; + out_857826347354799703[70] = 1.0; + out_857826347354799703[71] = 0.0; + out_857826347354799703[72] = 0.0; + out_857826347354799703[73] = 0.0; + out_857826347354799703[74] = 0.0; + out_857826347354799703[75] = 0.0; + out_857826347354799703[76] = 0.0; + out_857826347354799703[77] = 0.0; + out_857826347354799703[78] = 0.0; + out_857826347354799703[79] = 0.0; + out_857826347354799703[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3578319971516081169) { - out_3578319971516081169[0] = state[0]; - out_3578319971516081169[1] = state[1]; - out_3578319971516081169[2] = state[2]; - out_3578319971516081169[3] = state[3]; - out_3578319971516081169[4] = state[4]; - out_3578319971516081169[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_3578319971516081169[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_3578319971516081169[7] = state[7]; - out_3578319971516081169[8] = state[8]; +void f_fun(double *state, double dt, double *out_8901269396414862155) { + out_8901269396414862155[0] = state[0]; + out_8901269396414862155[1] = state[1]; + out_8901269396414862155[2] = state[2]; + out_8901269396414862155[3] = state[3]; + out_8901269396414862155[4] = state[4]; + out_8901269396414862155[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_8901269396414862155[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_8901269396414862155[7] = state[7]; + out_8901269396414862155[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2530937000049298875) { - out_2530937000049298875[0] = 1; - out_2530937000049298875[1] = 0; - out_2530937000049298875[2] = 0; - out_2530937000049298875[3] = 0; - out_2530937000049298875[4] = 0; - out_2530937000049298875[5] = 0; - out_2530937000049298875[6] = 0; - out_2530937000049298875[7] = 0; - out_2530937000049298875[8] = 0; - out_2530937000049298875[9] = 0; - out_2530937000049298875[10] = 1; - out_2530937000049298875[11] = 0; - out_2530937000049298875[12] = 0; - out_2530937000049298875[13] = 0; - out_2530937000049298875[14] = 0; - out_2530937000049298875[15] = 0; - out_2530937000049298875[16] = 0; - out_2530937000049298875[17] = 0; - out_2530937000049298875[18] = 0; - out_2530937000049298875[19] = 0; - out_2530937000049298875[20] = 1; - out_2530937000049298875[21] = 0; - out_2530937000049298875[22] = 0; - out_2530937000049298875[23] = 0; - out_2530937000049298875[24] = 0; - out_2530937000049298875[25] = 0; - out_2530937000049298875[26] = 0; - out_2530937000049298875[27] = 0; - out_2530937000049298875[28] = 0; - out_2530937000049298875[29] = 0; - out_2530937000049298875[30] = 1; - out_2530937000049298875[31] = 0; - out_2530937000049298875[32] = 0; - out_2530937000049298875[33] = 0; - out_2530937000049298875[34] = 0; - out_2530937000049298875[35] = 0; - out_2530937000049298875[36] = 0; - out_2530937000049298875[37] = 0; - out_2530937000049298875[38] = 0; - out_2530937000049298875[39] = 0; - out_2530937000049298875[40] = 1; - out_2530937000049298875[41] = 0; - out_2530937000049298875[42] = 0; - out_2530937000049298875[43] = 0; - out_2530937000049298875[44] = 0; - out_2530937000049298875[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_2530937000049298875[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2530937000049298875[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2530937000049298875[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2530937000049298875[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_2530937000049298875[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2530937000049298875[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2530937000049298875[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2530937000049298875[53] = -9.8100000000000005*dt; - out_2530937000049298875[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_2530937000049298875[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2530937000049298875[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2530937000049298875[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2530937000049298875[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_2530937000049298875[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2530937000049298875[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_2530937000049298875[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2530937000049298875[62] = 0; - out_2530937000049298875[63] = 0; - out_2530937000049298875[64] = 0; - out_2530937000049298875[65] = 0; - out_2530937000049298875[66] = 0; - out_2530937000049298875[67] = 0; - out_2530937000049298875[68] = 0; - out_2530937000049298875[69] = 0; - out_2530937000049298875[70] = 1; - out_2530937000049298875[71] = 0; - out_2530937000049298875[72] = 0; - out_2530937000049298875[73] = 0; - out_2530937000049298875[74] = 0; - out_2530937000049298875[75] = 0; - out_2530937000049298875[76] = 0; - out_2530937000049298875[77] = 0; - out_2530937000049298875[78] = 0; - out_2530937000049298875[79] = 0; - out_2530937000049298875[80] = 1; +void F_fun(double *state, double dt, double *out_8699189799260073455) { + out_8699189799260073455[0] = 1; + out_8699189799260073455[1] = 0; + out_8699189799260073455[2] = 0; + out_8699189799260073455[3] = 0; + out_8699189799260073455[4] = 0; + out_8699189799260073455[5] = 0; + out_8699189799260073455[6] = 0; + out_8699189799260073455[7] = 0; + out_8699189799260073455[8] = 0; + out_8699189799260073455[9] = 0; + out_8699189799260073455[10] = 1; + out_8699189799260073455[11] = 0; + out_8699189799260073455[12] = 0; + out_8699189799260073455[13] = 0; + out_8699189799260073455[14] = 0; + out_8699189799260073455[15] = 0; + out_8699189799260073455[16] = 0; + out_8699189799260073455[17] = 0; + out_8699189799260073455[18] = 0; + out_8699189799260073455[19] = 0; + out_8699189799260073455[20] = 1; + out_8699189799260073455[21] = 0; + out_8699189799260073455[22] = 0; + out_8699189799260073455[23] = 0; + out_8699189799260073455[24] = 0; + out_8699189799260073455[25] = 0; + out_8699189799260073455[26] = 0; + out_8699189799260073455[27] = 0; + out_8699189799260073455[28] = 0; + out_8699189799260073455[29] = 0; + out_8699189799260073455[30] = 1; + out_8699189799260073455[31] = 0; + out_8699189799260073455[32] = 0; + out_8699189799260073455[33] = 0; + out_8699189799260073455[34] = 0; + out_8699189799260073455[35] = 0; + out_8699189799260073455[36] = 0; + out_8699189799260073455[37] = 0; + out_8699189799260073455[38] = 0; + out_8699189799260073455[39] = 0; + out_8699189799260073455[40] = 1; + out_8699189799260073455[41] = 0; + out_8699189799260073455[42] = 0; + out_8699189799260073455[43] = 0; + out_8699189799260073455[44] = 0; + out_8699189799260073455[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_8699189799260073455[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8699189799260073455[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8699189799260073455[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8699189799260073455[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_8699189799260073455[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8699189799260073455[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8699189799260073455[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8699189799260073455[53] = -9.8100000000000005*dt; + out_8699189799260073455[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_8699189799260073455[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8699189799260073455[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8699189799260073455[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8699189799260073455[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_8699189799260073455[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8699189799260073455[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_8699189799260073455[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8699189799260073455[62] = 0; + out_8699189799260073455[63] = 0; + out_8699189799260073455[64] = 0; + out_8699189799260073455[65] = 0; + out_8699189799260073455[66] = 0; + out_8699189799260073455[67] = 0; + out_8699189799260073455[68] = 0; + out_8699189799260073455[69] = 0; + out_8699189799260073455[70] = 1; + out_8699189799260073455[71] = 0; + out_8699189799260073455[72] = 0; + out_8699189799260073455[73] = 0; + out_8699189799260073455[74] = 0; + out_8699189799260073455[75] = 0; + out_8699189799260073455[76] = 0; + out_8699189799260073455[77] = 0; + out_8699189799260073455[78] = 0; + out_8699189799260073455[79] = 0; + out_8699189799260073455[80] = 1; } -void h_25(double *state, double *unused, double *out_2134931354245078390) { - out_2134931354245078390[0] = state[6]; +void h_25(double *state, double *unused, double *out_7376242857501384597) { + out_7376242857501384597[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2632923262236535870) { - out_2632923262236535870[0] = 0; - out_2632923262236535870[1] = 0; - out_2632923262236535870[2] = 0; - out_2632923262236535870[3] = 0; - out_2632923262236535870[4] = 0; - out_2632923262236535870[5] = 0; - out_2632923262236535870[6] = 1; - out_2632923262236535870[7] = 0; - out_2632923262236535870[8] = 0; +void H_25(double *state, double *unused, double *out_4045865477829865137) { + out_4045865477829865137[0] = 0; + out_4045865477829865137[1] = 0; + out_4045865477829865137[2] = 0; + out_4045865477829865137[3] = 0; + out_4045865477829865137[4] = 0; + out_4045865477829865137[5] = 0; + out_4045865477829865137[6] = 1; + out_4045865477829865137[7] = 0; + out_4045865477829865137[8] = 0; } -void h_24(double *state, double *unused, double *out_8365765087520140722) { - out_8365765087520140722[0] = state[4]; - out_8365765087520140722[1] = state[5]; +void h_24(double *state, double *unused, double *out_8059939713516192443) { + out_8059939713516192443[0] = state[4]; + out_8059939713516192443[1] = state[5]; } -void H_24(double *state, double *unused, double *out_460273663231036304) { - out_460273663231036304[0] = 0; - out_460273663231036304[1] = 0; - out_460273663231036304[2] = 0; - out_460273663231036304[3] = 0; - out_460273663231036304[4] = 1; - out_460273663231036304[5] = 0; - out_460273663231036304[6] = 0; - out_460273663231036304[7] = 0; - out_460273663231036304[8] = 0; - out_460273663231036304[9] = 0; - out_460273663231036304[10] = 0; - out_460273663231036304[11] = 0; - out_460273663231036304[12] = 0; - out_460273663231036304[13] = 0; - out_460273663231036304[14] = 1; - out_460273663231036304[15] = 0; - out_460273663231036304[16] = 0; - out_460273663231036304[17] = 0; +void H_24(double *state, double *unused, double *out_6223079901437015110) { + out_6223079901437015110[0] = 0; + out_6223079901437015110[1] = 0; + out_6223079901437015110[2] = 0; + out_6223079901437015110[3] = 0; + out_6223079901437015110[4] = 1; + out_6223079901437015110[5] = 0; + out_6223079901437015110[6] = 0; + out_6223079901437015110[7] = 0; + out_6223079901437015110[8] = 0; + out_6223079901437015110[9] = 0; + out_6223079901437015110[10] = 0; + out_6223079901437015110[11] = 0; + out_6223079901437015110[12] = 0; + out_6223079901437015110[13] = 0; + out_6223079901437015110[14] = 1; + out_6223079901437015110[15] = 0; + out_6223079901437015110[16] = 0; + out_6223079901437015110[17] = 0; } -void h_30(double *state, double *unused, double *out_5772380882499100740) { - out_5772380882499100740[0] = state[4]; +void h_30(double *state, double *unused, double *out_4428516867145899636) { + out_4428516867145899636[0] = state[4]; } -void H_30(double *state, double *unused, double *out_5151256220743784497) { - out_5151256220743784497[0] = 0; - out_5151256220743784497[1] = 0; - out_5151256220743784497[2] = 0; - out_5151256220743784497[3] = 0; - out_5151256220743784497[4] = 1; - out_5151256220743784497[5] = 0; - out_5151256220743784497[6] = 0; - out_5151256220743784497[7] = 0; - out_5151256220743784497[8] = 0; +void H_30(double *state, double *unused, double *out_6564198436337113764) { + out_6564198436337113764[0] = 0; + out_6564198436337113764[1] = 0; + out_6564198436337113764[2] = 0; + out_6564198436337113764[3] = 0; + out_6564198436337113764[4] = 1; + out_6564198436337113764[5] = 0; + out_6564198436337113764[6] = 0; + out_6564198436337113764[7] = 0; + out_6564198436337113764[8] = 0; } -void h_26(double *state, double *unused, double *out_770707614838255095) { - out_770707614838255095[0] = state[7]; +void h_26(double *state, double *unused, double *out_6344022010831827263) { + out_6344022010831827263[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1108580056637520354) { - out_1108580056637520354[0] = 0; - out_1108580056637520354[1] = 0; - out_1108580056637520354[2] = 0; - out_1108580056637520354[3] = 0; - out_1108580056637520354[4] = 0; - out_1108580056637520354[5] = 0; - out_1108580056637520354[6] = 0; - out_1108580056637520354[7] = 1; - out_1108580056637520354[8] = 0; +void H_26(double *state, double *unused, double *out_7350391447590665738) { + out_7350391447590665738[0] = 0; + out_7350391447590665738[1] = 0; + out_7350391447590665738[2] = 0; + out_7350391447590665738[3] = 0; + out_7350391447590665738[4] = 0; + out_7350391447590665738[5] = 0; + out_7350391447590665738[6] = 0; + out_7350391447590665738[7] = 1; + out_7350391447590665738[8] = 0; } -void h_27(double *state, double *unused, double *out_7593975799595780900) { - out_7593975799595780900[0] = state[3]; +void h_27(double *state, double *unused, double *out_8466095895399469368) { + out_8466095895399469368[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7374850291927727714) { - out_7374850291927727714[0] = 0; - out_7374850291927727714[1] = 0; - out_7374850291927727714[2] = 0; - out_7374850291927727714[3] = 1; - out_7374850291927727714[4] = 0; - out_7374850291927727714[5] = 0; - out_7374850291927727714[6] = 0; - out_7374850291927727714[7] = 0; - out_7374850291927727714[8] = 0; +void H_27(double *state, double *unused, double *out_4389435124536688853) { + out_4389435124536688853[0] = 0; + out_4389435124536688853[1] = 0; + out_4389435124536688853[2] = 0; + out_4389435124536688853[3] = 1; + out_4389435124536688853[4] = 0; + out_4389435124536688853[5] = 0; + out_4389435124536688853[6] = 0; + out_4389435124536688853[7] = 0; + out_4389435124536688853[8] = 0; } -void h_29(double *state, double *unused, double *out_287296851158268285) { - out_287296851158268285[0] = state[1]; +void h_29(double *state, double *unused, double *out_3825200982469422119) { + out_3825200982469422119[0] = state[1]; } -void H_29(double *state, double *unused, double *out_5661487565058176681) { - out_5661487565058176681[0] = 0; - out_5661487565058176681[1] = 1; - out_5661487565058176681[2] = 0; - out_5661487565058176681[3] = 0; - out_5661487565058176681[4] = 0; - out_5661487565058176681[5] = 0; - out_5661487565058176681[6] = 0; - out_5661487565058176681[7] = 0; - out_5661487565058176681[8] = 0; +void H_29(double *state, double *unused, double *out_7074429780651505948) { + out_7074429780651505948[0] = 0; + out_7074429780651505948[1] = 1; + out_7074429780651505948[2] = 0; + out_7074429780651505948[3] = 0; + out_7074429780651505948[4] = 0; + out_7074429780651505948[5] = 0; + out_7074429780651505948[6] = 0; + out_7074429780651505948[7] = 0; + out_7074429780651505948[8] = 0; } -void h_28(double *state, double *unused, double *out_6243721933085284858) { - out_6243721933085284858[0] = state[0]; +void h_28(double *state, double *unused, double *out_515873276607371397) { + out_515873276607371397[0] = state[0]; } -void H_28(double *state, double *unused, double *out_579088547988646107) { - out_579088547988646107[0] = 1; - out_579088547988646107[1] = 0; - out_579088547988646107[2] = 0; - out_579088547988646107[3] = 0; - out_579088547988646107[4] = 0; - out_579088547988646107[5] = 0; - out_579088547988646107[6] = 0; - out_579088547988646107[7] = 0; - out_579088547988646107[8] = 0; +void H_28(double *state, double *unused, double *out_1992030763581975374) { + out_1992030763581975374[0] = 1; + out_1992030763581975374[1] = 0; + out_1992030763581975374[2] = 0; + out_1992030763581975374[3] = 0; + out_1992030763581975374[4] = 0; + out_1992030763581975374[5] = 0; + out_1992030763581975374[6] = 0; + out_1992030763581975374[7] = 0; + out_1992030763581975374[8] = 0; } -void h_31(double *state, double *unused, double *out_8851253955215584901) { - out_8851253955215584901[0] = state[8]; +void h_31(double *state, double *unused, double *out_3189228565454117834) { + out_3189228565454117834[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2663569224113496298) { - out_2663569224113496298[0] = 0; - out_2663569224113496298[1] = 0; - out_2663569224113496298[2] = 0; - out_2663569224113496298[3] = 0; - out_2663569224113496298[4] = 0; - out_2663569224113496298[5] = 0; - out_2663569224113496298[6] = 0; - out_2663569224113496298[7] = 0; - out_2663569224113496298[8] = 1; +void H_31(double *state, double *unused, double *out_6724183345357314262) { + out_6724183345357314262[0] = 0; + out_6724183345357314262[1] = 0; + out_6724183345357314262[2] = 0; + out_6724183345357314262[3] = 0; + out_6724183345357314262[4] = 0; + out_6724183345357314262[5] = 0; + out_6724183345357314262[6] = 0; + out_6724183345357314262[7] = 0; + out_6724183345357314262[8] = 1; } #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_3009395508469456389) { - err_fun(nom_x, delta_x, out_3009395508469456389); +void car_err_fun(double *nom_x, double *delta_x, double *out_3239626159248919555) { + err_fun(nom_x, delta_x, out_3239626159248919555); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063) { - inv_err_fun(nom_x, true_x, out_6058691817726549063); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837) { + inv_err_fun(nom_x, true_x, out_7776805117874316837); } -void car_H_mod_fun(double *state, double *out_6620632585560778509) { - H_mod_fun(state, out_6620632585560778509); +void car_H_mod_fun(double *state, double *out_857826347354799703) { + H_mod_fun(state, out_857826347354799703); } -void car_f_fun(double *state, double dt, double *out_3578319971516081169) { - f_fun(state, dt, out_3578319971516081169); +void car_f_fun(double *state, double dt, double *out_8901269396414862155) { + f_fun(state, dt, out_8901269396414862155); } -void car_F_fun(double *state, double dt, double *out_2530937000049298875) { - F_fun(state, dt, out_2530937000049298875); +void car_F_fun(double *state, double dt, double *out_8699189799260073455) { + F_fun(state, dt, out_8699189799260073455); } -void car_h_25(double *state, double *unused, double *out_2134931354245078390) { - h_25(state, unused, out_2134931354245078390); +void car_h_25(double *state, double *unused, double *out_7376242857501384597) { + h_25(state, unused, out_7376242857501384597); } -void car_H_25(double *state, double *unused, double *out_2632923262236535870) { - H_25(state, unused, out_2632923262236535870); +void car_H_25(double *state, double *unused, double *out_4045865477829865137) { + H_25(state, unused, out_4045865477829865137); } -void car_h_24(double *state, double *unused, double *out_8365765087520140722) { - h_24(state, unused, out_8365765087520140722); +void car_h_24(double *state, double *unused, double *out_8059939713516192443) { + h_24(state, unused, out_8059939713516192443); } -void car_H_24(double *state, double *unused, double *out_460273663231036304) { - H_24(state, unused, out_460273663231036304); +void car_H_24(double *state, double *unused, double *out_6223079901437015110) { + H_24(state, unused, out_6223079901437015110); } -void car_h_30(double *state, double *unused, double *out_5772380882499100740) { - h_30(state, unused, out_5772380882499100740); +void car_h_30(double *state, double *unused, double *out_4428516867145899636) { + h_30(state, unused, out_4428516867145899636); } -void car_H_30(double *state, double *unused, double *out_5151256220743784497) { - H_30(state, unused, out_5151256220743784497); +void car_H_30(double *state, double *unused, double *out_6564198436337113764) { + H_30(state, unused, out_6564198436337113764); } -void car_h_26(double *state, double *unused, double *out_770707614838255095) { - h_26(state, unused, out_770707614838255095); +void car_h_26(double *state, double *unused, double *out_6344022010831827263) { + h_26(state, unused, out_6344022010831827263); } -void car_H_26(double *state, double *unused, double *out_1108580056637520354) { - H_26(state, unused, out_1108580056637520354); +void car_H_26(double *state, double *unused, double *out_7350391447590665738) { + H_26(state, unused, out_7350391447590665738); } -void car_h_27(double *state, double *unused, double *out_7593975799595780900) { - h_27(state, unused, out_7593975799595780900); +void car_h_27(double *state, double *unused, double *out_8466095895399469368) { + h_27(state, unused, out_8466095895399469368); } -void car_H_27(double *state, double *unused, double *out_7374850291927727714) { - H_27(state, unused, out_7374850291927727714); +void car_H_27(double *state, double *unused, double *out_4389435124536688853) { + H_27(state, unused, out_4389435124536688853); } -void car_h_29(double *state, double *unused, double *out_287296851158268285) { - h_29(state, unused, out_287296851158268285); +void car_h_29(double *state, double *unused, double *out_3825200982469422119) { + h_29(state, unused, out_3825200982469422119); } -void car_H_29(double *state, double *unused, double *out_5661487565058176681) { - H_29(state, unused, out_5661487565058176681); +void car_H_29(double *state, double *unused, double *out_7074429780651505948) { + H_29(state, unused, out_7074429780651505948); } -void car_h_28(double *state, double *unused, double *out_6243721933085284858) { - h_28(state, unused, out_6243721933085284858); +void car_h_28(double *state, double *unused, double *out_515873276607371397) { + h_28(state, unused, out_515873276607371397); } -void car_H_28(double *state, double *unused, double *out_579088547988646107) { - H_28(state, unused, out_579088547988646107); +void car_H_28(double *state, double *unused, double *out_1992030763581975374) { + H_28(state, unused, out_1992030763581975374); } -void car_h_31(double *state, double *unused, double *out_8851253955215584901) { - h_31(state, unused, out_8851253955215584901); +void car_h_31(double *state, double *unused, double *out_3189228565454117834) { + h_31(state, unused, out_3189228565454117834); } -void car_H_31(double *state, double *unused, double *out_2663569224113496298) { - H_31(state, unused, out_2663569224113496298); +void car_H_31(double *state, double *unused, double *out_6724183345357314262) { + H_31(state, unused, out_6724183345357314262); } 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 4942dcdd4..392ab4e6d 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_3009395508469456389); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_6058691817726549063); -void car_H_mod_fun(double *state, double *out_6620632585560778509); -void car_f_fun(double *state, double dt, double *out_3578319971516081169); -void car_F_fun(double *state, double dt, double *out_2530937000049298875); -void car_h_25(double *state, double *unused, double *out_2134931354245078390); -void car_H_25(double *state, double *unused, double *out_2632923262236535870); -void car_h_24(double *state, double *unused, double *out_8365765087520140722); -void car_H_24(double *state, double *unused, double *out_460273663231036304); -void car_h_30(double *state, double *unused, double *out_5772380882499100740); -void car_H_30(double *state, double *unused, double *out_5151256220743784497); -void car_h_26(double *state, double *unused, double *out_770707614838255095); -void car_H_26(double *state, double *unused, double *out_1108580056637520354); -void car_h_27(double *state, double *unused, double *out_7593975799595780900); -void car_H_27(double *state, double *unused, double *out_7374850291927727714); -void car_h_29(double *state, double *unused, double *out_287296851158268285); -void car_H_29(double *state, double *unused, double *out_5661487565058176681); -void car_h_28(double *state, double *unused, double *out_6243721933085284858); -void car_H_28(double *state, double *unused, double *out_579088547988646107); -void car_h_31(double *state, double *unused, double *out_8851253955215584901); -void car_H_31(double *state, double *unused, double *out_2663569224113496298); +void car_err_fun(double *nom_x, double *delta_x, double *out_3239626159248919555); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7776805117874316837); +void car_H_mod_fun(double *state, double *out_857826347354799703); +void car_f_fun(double *state, double dt, double *out_8901269396414862155); +void car_F_fun(double *state, double dt, double *out_8699189799260073455); +void car_h_25(double *state, double *unused, double *out_7376242857501384597); +void car_H_25(double *state, double *unused, double *out_4045865477829865137); +void car_h_24(double *state, double *unused, double *out_8059939713516192443); +void car_H_24(double *state, double *unused, double *out_6223079901437015110); +void car_h_30(double *state, double *unused, double *out_4428516867145899636); +void car_H_30(double *state, double *unused, double *out_6564198436337113764); +void car_h_26(double *state, double *unused, double *out_6344022010831827263); +void car_H_26(double *state, double *unused, double *out_7350391447590665738); +void car_h_27(double *state, double *unused, double *out_8466095895399469368); +void car_H_27(double *state, double *unused, double *out_4389435124536688853); +void car_h_29(double *state, double *unused, double *out_3825200982469422119); +void car_H_29(double *state, double *unused, double *out_7074429780651505948); +void car_h_28(double *state, double *unused, double *out_515873276607371397); +void car_H_28(double *state, double *unused, double *out_1992030763581975374); +void car_h_31(double *state, double *unused, double *out_3189228565454117834); +void car_H_31(double *state, double *unused, double *out_6724183345357314262); void car_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 eb0ec02c3..e7780d08f 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_709589957515877441) { - out_709589957515877441[0] = delta_x[0] + nom_x[0]; - out_709589957515877441[1] = delta_x[1] + nom_x[1]; - out_709589957515877441[2] = delta_x[2] + nom_x[2]; - out_709589957515877441[3] = delta_x[3] + nom_x[3]; - out_709589957515877441[4] = delta_x[4] + nom_x[4]; - out_709589957515877441[5] = delta_x[5] + nom_x[5]; - out_709589957515877441[6] = delta_x[6] + nom_x[6]; - out_709589957515877441[7] = delta_x[7] + nom_x[7]; - out_709589957515877441[8] = delta_x[8] + nom_x[8]; - out_709589957515877441[9] = delta_x[9] + nom_x[9]; - out_709589957515877441[10] = delta_x[10] + nom_x[10]; - out_709589957515877441[11] = delta_x[11] + nom_x[11]; - out_709589957515877441[12] = delta_x[12] + nom_x[12]; - out_709589957515877441[13] = delta_x[13] + nom_x[13]; - out_709589957515877441[14] = delta_x[14] + nom_x[14]; - out_709589957515877441[15] = delta_x[15] + nom_x[15]; - out_709589957515877441[16] = delta_x[16] + nom_x[16]; - out_709589957515877441[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_4358722787451740543) { + out_4358722787451740543[0] = delta_x[0] + nom_x[0]; + out_4358722787451740543[1] = delta_x[1] + nom_x[1]; + out_4358722787451740543[2] = delta_x[2] + nom_x[2]; + out_4358722787451740543[3] = delta_x[3] + nom_x[3]; + out_4358722787451740543[4] = delta_x[4] + nom_x[4]; + out_4358722787451740543[5] = delta_x[5] + nom_x[5]; + out_4358722787451740543[6] = delta_x[6] + nom_x[6]; + out_4358722787451740543[7] = delta_x[7] + nom_x[7]; + out_4358722787451740543[8] = delta_x[8] + nom_x[8]; + out_4358722787451740543[9] = delta_x[9] + nom_x[9]; + out_4358722787451740543[10] = delta_x[10] + nom_x[10]; + out_4358722787451740543[11] = delta_x[11] + nom_x[11]; + out_4358722787451740543[12] = delta_x[12] + nom_x[12]; + out_4358722787451740543[13] = delta_x[13] + nom_x[13]; + out_4358722787451740543[14] = delta_x[14] + nom_x[14]; + out_4358722787451740543[15] = delta_x[15] + nom_x[15]; + out_4358722787451740543[16] = delta_x[16] + nom_x[16]; + out_4358722787451740543[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3661238081000149023) { - out_3661238081000149023[0] = -nom_x[0] + true_x[0]; - out_3661238081000149023[1] = -nom_x[1] + true_x[1]; - out_3661238081000149023[2] = -nom_x[2] + true_x[2]; - out_3661238081000149023[3] = -nom_x[3] + true_x[3]; - out_3661238081000149023[4] = -nom_x[4] + true_x[4]; - out_3661238081000149023[5] = -nom_x[5] + true_x[5]; - out_3661238081000149023[6] = -nom_x[6] + true_x[6]; - out_3661238081000149023[7] = -nom_x[7] + true_x[7]; - out_3661238081000149023[8] = -nom_x[8] + true_x[8]; - out_3661238081000149023[9] = -nom_x[9] + true_x[9]; - out_3661238081000149023[10] = -nom_x[10] + true_x[10]; - out_3661238081000149023[11] = -nom_x[11] + true_x[11]; - out_3661238081000149023[12] = -nom_x[12] + true_x[12]; - out_3661238081000149023[13] = -nom_x[13] + true_x[13]; - out_3661238081000149023[14] = -nom_x[14] + true_x[14]; - out_3661238081000149023[15] = -nom_x[15] + true_x[15]; - out_3661238081000149023[16] = -nom_x[16] + true_x[16]; - out_3661238081000149023[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8563351397910358896) { + out_8563351397910358896[0] = -nom_x[0] + true_x[0]; + out_8563351397910358896[1] = -nom_x[1] + true_x[1]; + out_8563351397910358896[2] = -nom_x[2] + true_x[2]; + out_8563351397910358896[3] = -nom_x[3] + true_x[3]; + out_8563351397910358896[4] = -nom_x[4] + true_x[4]; + out_8563351397910358896[5] = -nom_x[5] + true_x[5]; + out_8563351397910358896[6] = -nom_x[6] + true_x[6]; + out_8563351397910358896[7] = -nom_x[7] + true_x[7]; + out_8563351397910358896[8] = -nom_x[8] + true_x[8]; + out_8563351397910358896[9] = -nom_x[9] + true_x[9]; + out_8563351397910358896[10] = -nom_x[10] + true_x[10]; + out_8563351397910358896[11] = -nom_x[11] + true_x[11]; + out_8563351397910358896[12] = -nom_x[12] + true_x[12]; + out_8563351397910358896[13] = -nom_x[13] + true_x[13]; + out_8563351397910358896[14] = -nom_x[14] + true_x[14]; + out_8563351397910358896[15] = -nom_x[15] + true_x[15]; + out_8563351397910358896[16] = -nom_x[16] + true_x[16]; + out_8563351397910358896[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3274536842161333363) { - out_3274536842161333363[0] = 1.0; - out_3274536842161333363[1] = 0.0; - out_3274536842161333363[2] = 0.0; - out_3274536842161333363[3] = 0.0; - out_3274536842161333363[4] = 0.0; - out_3274536842161333363[5] = 0.0; - out_3274536842161333363[6] = 0.0; - out_3274536842161333363[7] = 0.0; - out_3274536842161333363[8] = 0.0; - out_3274536842161333363[9] = 0.0; - out_3274536842161333363[10] = 0.0; - out_3274536842161333363[11] = 0.0; - out_3274536842161333363[12] = 0.0; - out_3274536842161333363[13] = 0.0; - out_3274536842161333363[14] = 0.0; - out_3274536842161333363[15] = 0.0; - out_3274536842161333363[16] = 0.0; - out_3274536842161333363[17] = 0.0; - out_3274536842161333363[18] = 0.0; - out_3274536842161333363[19] = 1.0; - out_3274536842161333363[20] = 0.0; - out_3274536842161333363[21] = 0.0; - out_3274536842161333363[22] = 0.0; - out_3274536842161333363[23] = 0.0; - out_3274536842161333363[24] = 0.0; - out_3274536842161333363[25] = 0.0; - out_3274536842161333363[26] = 0.0; - out_3274536842161333363[27] = 0.0; - out_3274536842161333363[28] = 0.0; - out_3274536842161333363[29] = 0.0; - out_3274536842161333363[30] = 0.0; - out_3274536842161333363[31] = 0.0; - out_3274536842161333363[32] = 0.0; - out_3274536842161333363[33] = 0.0; - out_3274536842161333363[34] = 0.0; - out_3274536842161333363[35] = 0.0; - out_3274536842161333363[36] = 0.0; - out_3274536842161333363[37] = 0.0; - out_3274536842161333363[38] = 1.0; - out_3274536842161333363[39] = 0.0; - out_3274536842161333363[40] = 0.0; - out_3274536842161333363[41] = 0.0; - out_3274536842161333363[42] = 0.0; - out_3274536842161333363[43] = 0.0; - out_3274536842161333363[44] = 0.0; - out_3274536842161333363[45] = 0.0; - out_3274536842161333363[46] = 0.0; - out_3274536842161333363[47] = 0.0; - out_3274536842161333363[48] = 0.0; - out_3274536842161333363[49] = 0.0; - out_3274536842161333363[50] = 0.0; - out_3274536842161333363[51] = 0.0; - out_3274536842161333363[52] = 0.0; - out_3274536842161333363[53] = 0.0; - out_3274536842161333363[54] = 0.0; - out_3274536842161333363[55] = 0.0; - out_3274536842161333363[56] = 0.0; - out_3274536842161333363[57] = 1.0; - out_3274536842161333363[58] = 0.0; - out_3274536842161333363[59] = 0.0; - out_3274536842161333363[60] = 0.0; - out_3274536842161333363[61] = 0.0; - out_3274536842161333363[62] = 0.0; - out_3274536842161333363[63] = 0.0; - out_3274536842161333363[64] = 0.0; - out_3274536842161333363[65] = 0.0; - out_3274536842161333363[66] = 0.0; - out_3274536842161333363[67] = 0.0; - out_3274536842161333363[68] = 0.0; - out_3274536842161333363[69] = 0.0; - out_3274536842161333363[70] = 0.0; - out_3274536842161333363[71] = 0.0; - out_3274536842161333363[72] = 0.0; - out_3274536842161333363[73] = 0.0; - out_3274536842161333363[74] = 0.0; - out_3274536842161333363[75] = 0.0; - out_3274536842161333363[76] = 1.0; - out_3274536842161333363[77] = 0.0; - out_3274536842161333363[78] = 0.0; - out_3274536842161333363[79] = 0.0; - out_3274536842161333363[80] = 0.0; - out_3274536842161333363[81] = 0.0; - out_3274536842161333363[82] = 0.0; - out_3274536842161333363[83] = 0.0; - out_3274536842161333363[84] = 0.0; - out_3274536842161333363[85] = 0.0; - out_3274536842161333363[86] = 0.0; - out_3274536842161333363[87] = 0.0; - out_3274536842161333363[88] = 0.0; - out_3274536842161333363[89] = 0.0; - out_3274536842161333363[90] = 0.0; - out_3274536842161333363[91] = 0.0; - out_3274536842161333363[92] = 0.0; - out_3274536842161333363[93] = 0.0; - out_3274536842161333363[94] = 0.0; - out_3274536842161333363[95] = 1.0; - out_3274536842161333363[96] = 0.0; - out_3274536842161333363[97] = 0.0; - out_3274536842161333363[98] = 0.0; - out_3274536842161333363[99] = 0.0; - out_3274536842161333363[100] = 0.0; - out_3274536842161333363[101] = 0.0; - out_3274536842161333363[102] = 0.0; - out_3274536842161333363[103] = 0.0; - out_3274536842161333363[104] = 0.0; - out_3274536842161333363[105] = 0.0; - out_3274536842161333363[106] = 0.0; - out_3274536842161333363[107] = 0.0; - out_3274536842161333363[108] = 0.0; - out_3274536842161333363[109] = 0.0; - out_3274536842161333363[110] = 0.0; - out_3274536842161333363[111] = 0.0; - out_3274536842161333363[112] = 0.0; - out_3274536842161333363[113] = 0.0; - out_3274536842161333363[114] = 1.0; - out_3274536842161333363[115] = 0.0; - out_3274536842161333363[116] = 0.0; - out_3274536842161333363[117] = 0.0; - out_3274536842161333363[118] = 0.0; - out_3274536842161333363[119] = 0.0; - out_3274536842161333363[120] = 0.0; - out_3274536842161333363[121] = 0.0; - out_3274536842161333363[122] = 0.0; - out_3274536842161333363[123] = 0.0; - out_3274536842161333363[124] = 0.0; - out_3274536842161333363[125] = 0.0; - out_3274536842161333363[126] = 0.0; - out_3274536842161333363[127] = 0.0; - out_3274536842161333363[128] = 0.0; - out_3274536842161333363[129] = 0.0; - out_3274536842161333363[130] = 0.0; - out_3274536842161333363[131] = 0.0; - out_3274536842161333363[132] = 0.0; - out_3274536842161333363[133] = 1.0; - out_3274536842161333363[134] = 0.0; - out_3274536842161333363[135] = 0.0; - out_3274536842161333363[136] = 0.0; - out_3274536842161333363[137] = 0.0; - out_3274536842161333363[138] = 0.0; - out_3274536842161333363[139] = 0.0; - out_3274536842161333363[140] = 0.0; - out_3274536842161333363[141] = 0.0; - out_3274536842161333363[142] = 0.0; - out_3274536842161333363[143] = 0.0; - out_3274536842161333363[144] = 0.0; - out_3274536842161333363[145] = 0.0; - out_3274536842161333363[146] = 0.0; - out_3274536842161333363[147] = 0.0; - out_3274536842161333363[148] = 0.0; - out_3274536842161333363[149] = 0.0; - out_3274536842161333363[150] = 0.0; - out_3274536842161333363[151] = 0.0; - out_3274536842161333363[152] = 1.0; - out_3274536842161333363[153] = 0.0; - out_3274536842161333363[154] = 0.0; - out_3274536842161333363[155] = 0.0; - out_3274536842161333363[156] = 0.0; - out_3274536842161333363[157] = 0.0; - out_3274536842161333363[158] = 0.0; - out_3274536842161333363[159] = 0.0; - out_3274536842161333363[160] = 0.0; - out_3274536842161333363[161] = 0.0; - out_3274536842161333363[162] = 0.0; - out_3274536842161333363[163] = 0.0; - out_3274536842161333363[164] = 0.0; - out_3274536842161333363[165] = 0.0; - out_3274536842161333363[166] = 0.0; - out_3274536842161333363[167] = 0.0; - out_3274536842161333363[168] = 0.0; - out_3274536842161333363[169] = 0.0; - out_3274536842161333363[170] = 0.0; - out_3274536842161333363[171] = 1.0; - out_3274536842161333363[172] = 0.0; - out_3274536842161333363[173] = 0.0; - out_3274536842161333363[174] = 0.0; - out_3274536842161333363[175] = 0.0; - out_3274536842161333363[176] = 0.0; - out_3274536842161333363[177] = 0.0; - out_3274536842161333363[178] = 0.0; - out_3274536842161333363[179] = 0.0; - out_3274536842161333363[180] = 0.0; - out_3274536842161333363[181] = 0.0; - out_3274536842161333363[182] = 0.0; - out_3274536842161333363[183] = 0.0; - out_3274536842161333363[184] = 0.0; - out_3274536842161333363[185] = 0.0; - out_3274536842161333363[186] = 0.0; - out_3274536842161333363[187] = 0.0; - out_3274536842161333363[188] = 0.0; - out_3274536842161333363[189] = 0.0; - out_3274536842161333363[190] = 1.0; - out_3274536842161333363[191] = 0.0; - out_3274536842161333363[192] = 0.0; - out_3274536842161333363[193] = 0.0; - out_3274536842161333363[194] = 0.0; - out_3274536842161333363[195] = 0.0; - out_3274536842161333363[196] = 0.0; - out_3274536842161333363[197] = 0.0; - out_3274536842161333363[198] = 0.0; - out_3274536842161333363[199] = 0.0; - out_3274536842161333363[200] = 0.0; - out_3274536842161333363[201] = 0.0; - out_3274536842161333363[202] = 0.0; - out_3274536842161333363[203] = 0.0; - out_3274536842161333363[204] = 0.0; - out_3274536842161333363[205] = 0.0; - out_3274536842161333363[206] = 0.0; - out_3274536842161333363[207] = 0.0; - out_3274536842161333363[208] = 0.0; - out_3274536842161333363[209] = 1.0; - out_3274536842161333363[210] = 0.0; - out_3274536842161333363[211] = 0.0; - out_3274536842161333363[212] = 0.0; - out_3274536842161333363[213] = 0.0; - out_3274536842161333363[214] = 0.0; - out_3274536842161333363[215] = 0.0; - out_3274536842161333363[216] = 0.0; - out_3274536842161333363[217] = 0.0; - out_3274536842161333363[218] = 0.0; - out_3274536842161333363[219] = 0.0; - out_3274536842161333363[220] = 0.0; - out_3274536842161333363[221] = 0.0; - out_3274536842161333363[222] = 0.0; - out_3274536842161333363[223] = 0.0; - out_3274536842161333363[224] = 0.0; - out_3274536842161333363[225] = 0.0; - out_3274536842161333363[226] = 0.0; - out_3274536842161333363[227] = 0.0; - out_3274536842161333363[228] = 1.0; - out_3274536842161333363[229] = 0.0; - out_3274536842161333363[230] = 0.0; - out_3274536842161333363[231] = 0.0; - out_3274536842161333363[232] = 0.0; - out_3274536842161333363[233] = 0.0; - out_3274536842161333363[234] = 0.0; - out_3274536842161333363[235] = 0.0; - out_3274536842161333363[236] = 0.0; - out_3274536842161333363[237] = 0.0; - out_3274536842161333363[238] = 0.0; - out_3274536842161333363[239] = 0.0; - out_3274536842161333363[240] = 0.0; - out_3274536842161333363[241] = 0.0; - out_3274536842161333363[242] = 0.0; - out_3274536842161333363[243] = 0.0; - out_3274536842161333363[244] = 0.0; - out_3274536842161333363[245] = 0.0; - out_3274536842161333363[246] = 0.0; - out_3274536842161333363[247] = 1.0; - out_3274536842161333363[248] = 0.0; - out_3274536842161333363[249] = 0.0; - out_3274536842161333363[250] = 0.0; - out_3274536842161333363[251] = 0.0; - out_3274536842161333363[252] = 0.0; - out_3274536842161333363[253] = 0.0; - out_3274536842161333363[254] = 0.0; - out_3274536842161333363[255] = 0.0; - out_3274536842161333363[256] = 0.0; - out_3274536842161333363[257] = 0.0; - out_3274536842161333363[258] = 0.0; - out_3274536842161333363[259] = 0.0; - out_3274536842161333363[260] = 0.0; - out_3274536842161333363[261] = 0.0; - out_3274536842161333363[262] = 0.0; - out_3274536842161333363[263] = 0.0; - out_3274536842161333363[264] = 0.0; - out_3274536842161333363[265] = 0.0; - out_3274536842161333363[266] = 1.0; - out_3274536842161333363[267] = 0.0; - out_3274536842161333363[268] = 0.0; - out_3274536842161333363[269] = 0.0; - out_3274536842161333363[270] = 0.0; - out_3274536842161333363[271] = 0.0; - out_3274536842161333363[272] = 0.0; - out_3274536842161333363[273] = 0.0; - out_3274536842161333363[274] = 0.0; - out_3274536842161333363[275] = 0.0; - out_3274536842161333363[276] = 0.0; - out_3274536842161333363[277] = 0.0; - out_3274536842161333363[278] = 0.0; - out_3274536842161333363[279] = 0.0; - out_3274536842161333363[280] = 0.0; - out_3274536842161333363[281] = 0.0; - out_3274536842161333363[282] = 0.0; - out_3274536842161333363[283] = 0.0; - out_3274536842161333363[284] = 0.0; - out_3274536842161333363[285] = 1.0; - out_3274536842161333363[286] = 0.0; - out_3274536842161333363[287] = 0.0; - out_3274536842161333363[288] = 0.0; - out_3274536842161333363[289] = 0.0; - out_3274536842161333363[290] = 0.0; - out_3274536842161333363[291] = 0.0; - out_3274536842161333363[292] = 0.0; - out_3274536842161333363[293] = 0.0; - out_3274536842161333363[294] = 0.0; - out_3274536842161333363[295] = 0.0; - out_3274536842161333363[296] = 0.0; - out_3274536842161333363[297] = 0.0; - out_3274536842161333363[298] = 0.0; - out_3274536842161333363[299] = 0.0; - out_3274536842161333363[300] = 0.0; - out_3274536842161333363[301] = 0.0; - out_3274536842161333363[302] = 0.0; - out_3274536842161333363[303] = 0.0; - out_3274536842161333363[304] = 1.0; - out_3274536842161333363[305] = 0.0; - out_3274536842161333363[306] = 0.0; - out_3274536842161333363[307] = 0.0; - out_3274536842161333363[308] = 0.0; - out_3274536842161333363[309] = 0.0; - out_3274536842161333363[310] = 0.0; - out_3274536842161333363[311] = 0.0; - out_3274536842161333363[312] = 0.0; - out_3274536842161333363[313] = 0.0; - out_3274536842161333363[314] = 0.0; - out_3274536842161333363[315] = 0.0; - out_3274536842161333363[316] = 0.0; - out_3274536842161333363[317] = 0.0; - out_3274536842161333363[318] = 0.0; - out_3274536842161333363[319] = 0.0; - out_3274536842161333363[320] = 0.0; - out_3274536842161333363[321] = 0.0; - out_3274536842161333363[322] = 0.0; - out_3274536842161333363[323] = 1.0; +void H_mod_fun(double *state, double *out_5753197897836805411) { + out_5753197897836805411[0] = 1.0; + out_5753197897836805411[1] = 0.0; + out_5753197897836805411[2] = 0.0; + out_5753197897836805411[3] = 0.0; + out_5753197897836805411[4] = 0.0; + out_5753197897836805411[5] = 0.0; + out_5753197897836805411[6] = 0.0; + out_5753197897836805411[7] = 0.0; + out_5753197897836805411[8] = 0.0; + out_5753197897836805411[9] = 0.0; + out_5753197897836805411[10] = 0.0; + out_5753197897836805411[11] = 0.0; + out_5753197897836805411[12] = 0.0; + out_5753197897836805411[13] = 0.0; + out_5753197897836805411[14] = 0.0; + out_5753197897836805411[15] = 0.0; + out_5753197897836805411[16] = 0.0; + out_5753197897836805411[17] = 0.0; + out_5753197897836805411[18] = 0.0; + out_5753197897836805411[19] = 1.0; + out_5753197897836805411[20] = 0.0; + out_5753197897836805411[21] = 0.0; + out_5753197897836805411[22] = 0.0; + out_5753197897836805411[23] = 0.0; + out_5753197897836805411[24] = 0.0; + out_5753197897836805411[25] = 0.0; + out_5753197897836805411[26] = 0.0; + out_5753197897836805411[27] = 0.0; + out_5753197897836805411[28] = 0.0; + out_5753197897836805411[29] = 0.0; + out_5753197897836805411[30] = 0.0; + out_5753197897836805411[31] = 0.0; + out_5753197897836805411[32] = 0.0; + out_5753197897836805411[33] = 0.0; + out_5753197897836805411[34] = 0.0; + out_5753197897836805411[35] = 0.0; + out_5753197897836805411[36] = 0.0; + out_5753197897836805411[37] = 0.0; + out_5753197897836805411[38] = 1.0; + out_5753197897836805411[39] = 0.0; + out_5753197897836805411[40] = 0.0; + out_5753197897836805411[41] = 0.0; + out_5753197897836805411[42] = 0.0; + out_5753197897836805411[43] = 0.0; + out_5753197897836805411[44] = 0.0; + out_5753197897836805411[45] = 0.0; + out_5753197897836805411[46] = 0.0; + out_5753197897836805411[47] = 0.0; + out_5753197897836805411[48] = 0.0; + out_5753197897836805411[49] = 0.0; + out_5753197897836805411[50] = 0.0; + out_5753197897836805411[51] = 0.0; + out_5753197897836805411[52] = 0.0; + out_5753197897836805411[53] = 0.0; + out_5753197897836805411[54] = 0.0; + out_5753197897836805411[55] = 0.0; + out_5753197897836805411[56] = 0.0; + out_5753197897836805411[57] = 1.0; + out_5753197897836805411[58] = 0.0; + out_5753197897836805411[59] = 0.0; + out_5753197897836805411[60] = 0.0; + out_5753197897836805411[61] = 0.0; + out_5753197897836805411[62] = 0.0; + out_5753197897836805411[63] = 0.0; + out_5753197897836805411[64] = 0.0; + out_5753197897836805411[65] = 0.0; + out_5753197897836805411[66] = 0.0; + out_5753197897836805411[67] = 0.0; + out_5753197897836805411[68] = 0.0; + out_5753197897836805411[69] = 0.0; + out_5753197897836805411[70] = 0.0; + out_5753197897836805411[71] = 0.0; + out_5753197897836805411[72] = 0.0; + out_5753197897836805411[73] = 0.0; + out_5753197897836805411[74] = 0.0; + out_5753197897836805411[75] = 0.0; + out_5753197897836805411[76] = 1.0; + out_5753197897836805411[77] = 0.0; + out_5753197897836805411[78] = 0.0; + out_5753197897836805411[79] = 0.0; + out_5753197897836805411[80] = 0.0; + out_5753197897836805411[81] = 0.0; + out_5753197897836805411[82] = 0.0; + out_5753197897836805411[83] = 0.0; + out_5753197897836805411[84] = 0.0; + out_5753197897836805411[85] = 0.0; + out_5753197897836805411[86] = 0.0; + out_5753197897836805411[87] = 0.0; + out_5753197897836805411[88] = 0.0; + out_5753197897836805411[89] = 0.0; + out_5753197897836805411[90] = 0.0; + out_5753197897836805411[91] = 0.0; + out_5753197897836805411[92] = 0.0; + out_5753197897836805411[93] = 0.0; + out_5753197897836805411[94] = 0.0; + out_5753197897836805411[95] = 1.0; + out_5753197897836805411[96] = 0.0; + out_5753197897836805411[97] = 0.0; + out_5753197897836805411[98] = 0.0; + out_5753197897836805411[99] = 0.0; + out_5753197897836805411[100] = 0.0; + out_5753197897836805411[101] = 0.0; + out_5753197897836805411[102] = 0.0; + out_5753197897836805411[103] = 0.0; + out_5753197897836805411[104] = 0.0; + out_5753197897836805411[105] = 0.0; + out_5753197897836805411[106] = 0.0; + out_5753197897836805411[107] = 0.0; + out_5753197897836805411[108] = 0.0; + out_5753197897836805411[109] = 0.0; + out_5753197897836805411[110] = 0.0; + out_5753197897836805411[111] = 0.0; + out_5753197897836805411[112] = 0.0; + out_5753197897836805411[113] = 0.0; + out_5753197897836805411[114] = 1.0; + out_5753197897836805411[115] = 0.0; + out_5753197897836805411[116] = 0.0; + out_5753197897836805411[117] = 0.0; + out_5753197897836805411[118] = 0.0; + out_5753197897836805411[119] = 0.0; + out_5753197897836805411[120] = 0.0; + out_5753197897836805411[121] = 0.0; + out_5753197897836805411[122] = 0.0; + out_5753197897836805411[123] = 0.0; + out_5753197897836805411[124] = 0.0; + out_5753197897836805411[125] = 0.0; + out_5753197897836805411[126] = 0.0; + out_5753197897836805411[127] = 0.0; + out_5753197897836805411[128] = 0.0; + out_5753197897836805411[129] = 0.0; + out_5753197897836805411[130] = 0.0; + out_5753197897836805411[131] = 0.0; + out_5753197897836805411[132] = 0.0; + out_5753197897836805411[133] = 1.0; + out_5753197897836805411[134] = 0.0; + out_5753197897836805411[135] = 0.0; + out_5753197897836805411[136] = 0.0; + out_5753197897836805411[137] = 0.0; + out_5753197897836805411[138] = 0.0; + out_5753197897836805411[139] = 0.0; + out_5753197897836805411[140] = 0.0; + out_5753197897836805411[141] = 0.0; + out_5753197897836805411[142] = 0.0; + out_5753197897836805411[143] = 0.0; + out_5753197897836805411[144] = 0.0; + out_5753197897836805411[145] = 0.0; + out_5753197897836805411[146] = 0.0; + out_5753197897836805411[147] = 0.0; + out_5753197897836805411[148] = 0.0; + out_5753197897836805411[149] = 0.0; + out_5753197897836805411[150] = 0.0; + out_5753197897836805411[151] = 0.0; + out_5753197897836805411[152] = 1.0; + out_5753197897836805411[153] = 0.0; + out_5753197897836805411[154] = 0.0; + out_5753197897836805411[155] = 0.0; + out_5753197897836805411[156] = 0.0; + out_5753197897836805411[157] = 0.0; + out_5753197897836805411[158] = 0.0; + out_5753197897836805411[159] = 0.0; + out_5753197897836805411[160] = 0.0; + out_5753197897836805411[161] = 0.0; + out_5753197897836805411[162] = 0.0; + out_5753197897836805411[163] = 0.0; + out_5753197897836805411[164] = 0.0; + out_5753197897836805411[165] = 0.0; + out_5753197897836805411[166] = 0.0; + out_5753197897836805411[167] = 0.0; + out_5753197897836805411[168] = 0.0; + out_5753197897836805411[169] = 0.0; + out_5753197897836805411[170] = 0.0; + out_5753197897836805411[171] = 1.0; + out_5753197897836805411[172] = 0.0; + out_5753197897836805411[173] = 0.0; + out_5753197897836805411[174] = 0.0; + out_5753197897836805411[175] = 0.0; + out_5753197897836805411[176] = 0.0; + out_5753197897836805411[177] = 0.0; + out_5753197897836805411[178] = 0.0; + out_5753197897836805411[179] = 0.0; + out_5753197897836805411[180] = 0.0; + out_5753197897836805411[181] = 0.0; + out_5753197897836805411[182] = 0.0; + out_5753197897836805411[183] = 0.0; + out_5753197897836805411[184] = 0.0; + out_5753197897836805411[185] = 0.0; + out_5753197897836805411[186] = 0.0; + out_5753197897836805411[187] = 0.0; + out_5753197897836805411[188] = 0.0; + out_5753197897836805411[189] = 0.0; + out_5753197897836805411[190] = 1.0; + out_5753197897836805411[191] = 0.0; + out_5753197897836805411[192] = 0.0; + out_5753197897836805411[193] = 0.0; + out_5753197897836805411[194] = 0.0; + out_5753197897836805411[195] = 0.0; + out_5753197897836805411[196] = 0.0; + out_5753197897836805411[197] = 0.0; + out_5753197897836805411[198] = 0.0; + out_5753197897836805411[199] = 0.0; + out_5753197897836805411[200] = 0.0; + out_5753197897836805411[201] = 0.0; + out_5753197897836805411[202] = 0.0; + out_5753197897836805411[203] = 0.0; + out_5753197897836805411[204] = 0.0; + out_5753197897836805411[205] = 0.0; + out_5753197897836805411[206] = 0.0; + out_5753197897836805411[207] = 0.0; + out_5753197897836805411[208] = 0.0; + out_5753197897836805411[209] = 1.0; + out_5753197897836805411[210] = 0.0; + out_5753197897836805411[211] = 0.0; + out_5753197897836805411[212] = 0.0; + out_5753197897836805411[213] = 0.0; + out_5753197897836805411[214] = 0.0; + out_5753197897836805411[215] = 0.0; + out_5753197897836805411[216] = 0.0; + out_5753197897836805411[217] = 0.0; + out_5753197897836805411[218] = 0.0; + out_5753197897836805411[219] = 0.0; + out_5753197897836805411[220] = 0.0; + out_5753197897836805411[221] = 0.0; + out_5753197897836805411[222] = 0.0; + out_5753197897836805411[223] = 0.0; + out_5753197897836805411[224] = 0.0; + out_5753197897836805411[225] = 0.0; + out_5753197897836805411[226] = 0.0; + out_5753197897836805411[227] = 0.0; + out_5753197897836805411[228] = 1.0; + out_5753197897836805411[229] = 0.0; + out_5753197897836805411[230] = 0.0; + out_5753197897836805411[231] = 0.0; + out_5753197897836805411[232] = 0.0; + out_5753197897836805411[233] = 0.0; + out_5753197897836805411[234] = 0.0; + out_5753197897836805411[235] = 0.0; + out_5753197897836805411[236] = 0.0; + out_5753197897836805411[237] = 0.0; + out_5753197897836805411[238] = 0.0; + out_5753197897836805411[239] = 0.0; + out_5753197897836805411[240] = 0.0; + out_5753197897836805411[241] = 0.0; + out_5753197897836805411[242] = 0.0; + out_5753197897836805411[243] = 0.0; + out_5753197897836805411[244] = 0.0; + out_5753197897836805411[245] = 0.0; + out_5753197897836805411[246] = 0.0; + out_5753197897836805411[247] = 1.0; + out_5753197897836805411[248] = 0.0; + out_5753197897836805411[249] = 0.0; + out_5753197897836805411[250] = 0.0; + out_5753197897836805411[251] = 0.0; + out_5753197897836805411[252] = 0.0; + out_5753197897836805411[253] = 0.0; + out_5753197897836805411[254] = 0.0; + out_5753197897836805411[255] = 0.0; + out_5753197897836805411[256] = 0.0; + out_5753197897836805411[257] = 0.0; + out_5753197897836805411[258] = 0.0; + out_5753197897836805411[259] = 0.0; + out_5753197897836805411[260] = 0.0; + out_5753197897836805411[261] = 0.0; + out_5753197897836805411[262] = 0.0; + out_5753197897836805411[263] = 0.0; + out_5753197897836805411[264] = 0.0; + out_5753197897836805411[265] = 0.0; + out_5753197897836805411[266] = 1.0; + out_5753197897836805411[267] = 0.0; + out_5753197897836805411[268] = 0.0; + out_5753197897836805411[269] = 0.0; + out_5753197897836805411[270] = 0.0; + out_5753197897836805411[271] = 0.0; + out_5753197897836805411[272] = 0.0; + out_5753197897836805411[273] = 0.0; + out_5753197897836805411[274] = 0.0; + out_5753197897836805411[275] = 0.0; + out_5753197897836805411[276] = 0.0; + out_5753197897836805411[277] = 0.0; + out_5753197897836805411[278] = 0.0; + out_5753197897836805411[279] = 0.0; + out_5753197897836805411[280] = 0.0; + out_5753197897836805411[281] = 0.0; + out_5753197897836805411[282] = 0.0; + out_5753197897836805411[283] = 0.0; + out_5753197897836805411[284] = 0.0; + out_5753197897836805411[285] = 1.0; + out_5753197897836805411[286] = 0.0; + out_5753197897836805411[287] = 0.0; + out_5753197897836805411[288] = 0.0; + out_5753197897836805411[289] = 0.0; + out_5753197897836805411[290] = 0.0; + out_5753197897836805411[291] = 0.0; + out_5753197897836805411[292] = 0.0; + out_5753197897836805411[293] = 0.0; + out_5753197897836805411[294] = 0.0; + out_5753197897836805411[295] = 0.0; + out_5753197897836805411[296] = 0.0; + out_5753197897836805411[297] = 0.0; + out_5753197897836805411[298] = 0.0; + out_5753197897836805411[299] = 0.0; + out_5753197897836805411[300] = 0.0; + out_5753197897836805411[301] = 0.0; + out_5753197897836805411[302] = 0.0; + out_5753197897836805411[303] = 0.0; + out_5753197897836805411[304] = 1.0; + out_5753197897836805411[305] = 0.0; + out_5753197897836805411[306] = 0.0; + out_5753197897836805411[307] = 0.0; + out_5753197897836805411[308] = 0.0; + out_5753197897836805411[309] = 0.0; + out_5753197897836805411[310] = 0.0; + out_5753197897836805411[311] = 0.0; + out_5753197897836805411[312] = 0.0; + out_5753197897836805411[313] = 0.0; + out_5753197897836805411[314] = 0.0; + out_5753197897836805411[315] = 0.0; + out_5753197897836805411[316] = 0.0; + out_5753197897836805411[317] = 0.0; + out_5753197897836805411[318] = 0.0; + out_5753197897836805411[319] = 0.0; + out_5753197897836805411[320] = 0.0; + out_5753197897836805411[321] = 0.0; + out_5753197897836805411[322] = 0.0; + out_5753197897836805411[323] = 1.0; } -void f_fun(double *state, double dt, double *out_54085149498667220) { - out_54085149498667220[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_54085149498667220[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_54085149498667220[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_54085149498667220[3] = dt*state[12] + state[3]; - out_54085149498667220[4] = dt*state[13] + state[4]; - out_54085149498667220[5] = dt*state[14] + state[5]; - out_54085149498667220[6] = state[6]; - out_54085149498667220[7] = state[7]; - out_54085149498667220[8] = state[8]; - out_54085149498667220[9] = state[9]; - out_54085149498667220[10] = state[10]; - out_54085149498667220[11] = state[11]; - out_54085149498667220[12] = state[12]; - out_54085149498667220[13] = state[13]; - out_54085149498667220[14] = state[14]; - out_54085149498667220[15] = state[15]; - out_54085149498667220[16] = state[16]; - out_54085149498667220[17] = state[17]; +void f_fun(double *state, double dt, double *out_4934931273554332776) { + out_4934931273554332776[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_4934931273554332776[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_4934931273554332776[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_4934931273554332776[3] = dt*state[12] + state[3]; + out_4934931273554332776[4] = dt*state[13] + state[4]; + out_4934931273554332776[5] = dt*state[14] + state[5]; + out_4934931273554332776[6] = state[6]; + out_4934931273554332776[7] = state[7]; + out_4934931273554332776[8] = state[8]; + out_4934931273554332776[9] = state[9]; + out_4934931273554332776[10] = state[10]; + out_4934931273554332776[11] = state[11]; + out_4934931273554332776[12] = state[12]; + out_4934931273554332776[13] = state[13]; + out_4934931273554332776[14] = state[14]; + out_4934931273554332776[15] = state[15]; + out_4934931273554332776[16] = state[16]; + out_4934931273554332776[17] = state[17]; } -void F_fun(double *state, double dt, double *out_3360900556715541089) { - out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[2] = 0; - out_3360900556715541089[3] = 0; - out_3360900556715541089[4] = 0; - out_3360900556715541089[5] = 0; - out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[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_3360900556715541089[9] = 0; - out_3360900556715541089[10] = 0; - out_3360900556715541089[11] = 0; - out_3360900556715541089[12] = 0; - out_3360900556715541089[13] = 0; - out_3360900556715541089[14] = 0; - out_3360900556715541089[15] = 0; - out_3360900556715541089[16] = 0; - out_3360900556715541089[17] = 0; - out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[20] = 0; - out_3360900556715541089[21] = 0; - out_3360900556715541089[22] = 0; - out_3360900556715541089[23] = 0; - out_3360900556715541089[24] = 0; - out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[27] = 0; - out_3360900556715541089[28] = 0; - out_3360900556715541089[29] = 0; - out_3360900556715541089[30] = 0; - out_3360900556715541089[31] = 0; - out_3360900556715541089[32] = 0; - out_3360900556715541089[33] = 0; - out_3360900556715541089[34] = 0; - out_3360900556715541089[35] = 0; - out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[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_3360900556715541089[39] = 0; - out_3360900556715541089[40] = 0; - out_3360900556715541089[41] = 0; - out_3360900556715541089[42] = 0; - out_3360900556715541089[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_3360900556715541089[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_3360900556715541089[45] = 0; - out_3360900556715541089[46] = 0; - out_3360900556715541089[47] = 0; - out_3360900556715541089[48] = 0; - out_3360900556715541089[49] = 0; - out_3360900556715541089[50] = 0; - out_3360900556715541089[51] = 0; - out_3360900556715541089[52] = 0; - out_3360900556715541089[53] = 0; - out_3360900556715541089[54] = 0; - out_3360900556715541089[55] = 0; - out_3360900556715541089[56] = 0; - out_3360900556715541089[57] = 1; - out_3360900556715541089[58] = 0; - out_3360900556715541089[59] = 0; - out_3360900556715541089[60] = 0; - out_3360900556715541089[61] = 0; - out_3360900556715541089[62] = 0; - out_3360900556715541089[63] = 0; - out_3360900556715541089[64] = 0; - out_3360900556715541089[65] = 0; - out_3360900556715541089[66] = dt; - out_3360900556715541089[67] = 0; - out_3360900556715541089[68] = 0; - out_3360900556715541089[69] = 0; - out_3360900556715541089[70] = 0; - out_3360900556715541089[71] = 0; - out_3360900556715541089[72] = 0; - out_3360900556715541089[73] = 0; - out_3360900556715541089[74] = 0; - out_3360900556715541089[75] = 0; - out_3360900556715541089[76] = 1; - out_3360900556715541089[77] = 0; - out_3360900556715541089[78] = 0; - out_3360900556715541089[79] = 0; - out_3360900556715541089[80] = 0; - out_3360900556715541089[81] = 0; - out_3360900556715541089[82] = 0; - out_3360900556715541089[83] = 0; - out_3360900556715541089[84] = 0; - out_3360900556715541089[85] = dt; - out_3360900556715541089[86] = 0; - out_3360900556715541089[87] = 0; - out_3360900556715541089[88] = 0; - out_3360900556715541089[89] = 0; - out_3360900556715541089[90] = 0; - out_3360900556715541089[91] = 0; - out_3360900556715541089[92] = 0; - out_3360900556715541089[93] = 0; - out_3360900556715541089[94] = 0; - out_3360900556715541089[95] = 1; - out_3360900556715541089[96] = 0; - out_3360900556715541089[97] = 0; - out_3360900556715541089[98] = 0; - out_3360900556715541089[99] = 0; - out_3360900556715541089[100] = 0; - out_3360900556715541089[101] = 0; - out_3360900556715541089[102] = 0; - out_3360900556715541089[103] = 0; - out_3360900556715541089[104] = dt; - out_3360900556715541089[105] = 0; - out_3360900556715541089[106] = 0; - out_3360900556715541089[107] = 0; - out_3360900556715541089[108] = 0; - out_3360900556715541089[109] = 0; - out_3360900556715541089[110] = 0; - out_3360900556715541089[111] = 0; - out_3360900556715541089[112] = 0; - out_3360900556715541089[113] = 0; - out_3360900556715541089[114] = 1; - out_3360900556715541089[115] = 0; - out_3360900556715541089[116] = 0; - out_3360900556715541089[117] = 0; - out_3360900556715541089[118] = 0; - out_3360900556715541089[119] = 0; - out_3360900556715541089[120] = 0; - out_3360900556715541089[121] = 0; - out_3360900556715541089[122] = 0; - out_3360900556715541089[123] = 0; - out_3360900556715541089[124] = 0; - out_3360900556715541089[125] = 0; - out_3360900556715541089[126] = 0; - out_3360900556715541089[127] = 0; - out_3360900556715541089[128] = 0; - out_3360900556715541089[129] = 0; - out_3360900556715541089[130] = 0; - out_3360900556715541089[131] = 0; - out_3360900556715541089[132] = 0; - out_3360900556715541089[133] = 1; - out_3360900556715541089[134] = 0; - out_3360900556715541089[135] = 0; - out_3360900556715541089[136] = 0; - out_3360900556715541089[137] = 0; - out_3360900556715541089[138] = 0; - out_3360900556715541089[139] = 0; - out_3360900556715541089[140] = 0; - out_3360900556715541089[141] = 0; - out_3360900556715541089[142] = 0; - out_3360900556715541089[143] = 0; - out_3360900556715541089[144] = 0; - out_3360900556715541089[145] = 0; - out_3360900556715541089[146] = 0; - out_3360900556715541089[147] = 0; - out_3360900556715541089[148] = 0; - out_3360900556715541089[149] = 0; - out_3360900556715541089[150] = 0; - out_3360900556715541089[151] = 0; - out_3360900556715541089[152] = 1; - out_3360900556715541089[153] = 0; - out_3360900556715541089[154] = 0; - out_3360900556715541089[155] = 0; - out_3360900556715541089[156] = 0; - out_3360900556715541089[157] = 0; - out_3360900556715541089[158] = 0; - out_3360900556715541089[159] = 0; - out_3360900556715541089[160] = 0; - out_3360900556715541089[161] = 0; - out_3360900556715541089[162] = 0; - out_3360900556715541089[163] = 0; - out_3360900556715541089[164] = 0; - out_3360900556715541089[165] = 0; - out_3360900556715541089[166] = 0; - out_3360900556715541089[167] = 0; - out_3360900556715541089[168] = 0; - out_3360900556715541089[169] = 0; - out_3360900556715541089[170] = 0; - out_3360900556715541089[171] = 1; - out_3360900556715541089[172] = 0; - out_3360900556715541089[173] = 0; - out_3360900556715541089[174] = 0; - out_3360900556715541089[175] = 0; - out_3360900556715541089[176] = 0; - out_3360900556715541089[177] = 0; - out_3360900556715541089[178] = 0; - out_3360900556715541089[179] = 0; - out_3360900556715541089[180] = 0; - out_3360900556715541089[181] = 0; - out_3360900556715541089[182] = 0; - out_3360900556715541089[183] = 0; - out_3360900556715541089[184] = 0; - out_3360900556715541089[185] = 0; - out_3360900556715541089[186] = 0; - out_3360900556715541089[187] = 0; - out_3360900556715541089[188] = 0; - out_3360900556715541089[189] = 0; - out_3360900556715541089[190] = 1; - out_3360900556715541089[191] = 0; - out_3360900556715541089[192] = 0; - out_3360900556715541089[193] = 0; - out_3360900556715541089[194] = 0; - out_3360900556715541089[195] = 0; - out_3360900556715541089[196] = 0; - out_3360900556715541089[197] = 0; - out_3360900556715541089[198] = 0; - out_3360900556715541089[199] = 0; - out_3360900556715541089[200] = 0; - out_3360900556715541089[201] = 0; - out_3360900556715541089[202] = 0; - out_3360900556715541089[203] = 0; - out_3360900556715541089[204] = 0; - out_3360900556715541089[205] = 0; - out_3360900556715541089[206] = 0; - out_3360900556715541089[207] = 0; - out_3360900556715541089[208] = 0; - out_3360900556715541089[209] = 1; - out_3360900556715541089[210] = 0; - out_3360900556715541089[211] = 0; - out_3360900556715541089[212] = 0; - out_3360900556715541089[213] = 0; - out_3360900556715541089[214] = 0; - out_3360900556715541089[215] = 0; - out_3360900556715541089[216] = 0; - out_3360900556715541089[217] = 0; - out_3360900556715541089[218] = 0; - out_3360900556715541089[219] = 0; - out_3360900556715541089[220] = 0; - out_3360900556715541089[221] = 0; - out_3360900556715541089[222] = 0; - out_3360900556715541089[223] = 0; - out_3360900556715541089[224] = 0; - out_3360900556715541089[225] = 0; - out_3360900556715541089[226] = 0; - out_3360900556715541089[227] = 0; - out_3360900556715541089[228] = 1; - out_3360900556715541089[229] = 0; - out_3360900556715541089[230] = 0; - out_3360900556715541089[231] = 0; - out_3360900556715541089[232] = 0; - out_3360900556715541089[233] = 0; - out_3360900556715541089[234] = 0; - out_3360900556715541089[235] = 0; - out_3360900556715541089[236] = 0; - out_3360900556715541089[237] = 0; - out_3360900556715541089[238] = 0; - out_3360900556715541089[239] = 0; - out_3360900556715541089[240] = 0; - out_3360900556715541089[241] = 0; - out_3360900556715541089[242] = 0; - out_3360900556715541089[243] = 0; - out_3360900556715541089[244] = 0; - out_3360900556715541089[245] = 0; - out_3360900556715541089[246] = 0; - out_3360900556715541089[247] = 1; - out_3360900556715541089[248] = 0; - out_3360900556715541089[249] = 0; - out_3360900556715541089[250] = 0; - out_3360900556715541089[251] = 0; - out_3360900556715541089[252] = 0; - out_3360900556715541089[253] = 0; - out_3360900556715541089[254] = 0; - out_3360900556715541089[255] = 0; - out_3360900556715541089[256] = 0; - out_3360900556715541089[257] = 0; - out_3360900556715541089[258] = 0; - out_3360900556715541089[259] = 0; - out_3360900556715541089[260] = 0; - out_3360900556715541089[261] = 0; - out_3360900556715541089[262] = 0; - out_3360900556715541089[263] = 0; - out_3360900556715541089[264] = 0; - out_3360900556715541089[265] = 0; - out_3360900556715541089[266] = 1; - out_3360900556715541089[267] = 0; - out_3360900556715541089[268] = 0; - out_3360900556715541089[269] = 0; - out_3360900556715541089[270] = 0; - out_3360900556715541089[271] = 0; - out_3360900556715541089[272] = 0; - out_3360900556715541089[273] = 0; - out_3360900556715541089[274] = 0; - out_3360900556715541089[275] = 0; - out_3360900556715541089[276] = 0; - out_3360900556715541089[277] = 0; - out_3360900556715541089[278] = 0; - out_3360900556715541089[279] = 0; - out_3360900556715541089[280] = 0; - out_3360900556715541089[281] = 0; - out_3360900556715541089[282] = 0; - out_3360900556715541089[283] = 0; - out_3360900556715541089[284] = 0; - out_3360900556715541089[285] = 1; - out_3360900556715541089[286] = 0; - out_3360900556715541089[287] = 0; - out_3360900556715541089[288] = 0; - out_3360900556715541089[289] = 0; - out_3360900556715541089[290] = 0; - out_3360900556715541089[291] = 0; - out_3360900556715541089[292] = 0; - out_3360900556715541089[293] = 0; - out_3360900556715541089[294] = 0; - out_3360900556715541089[295] = 0; - out_3360900556715541089[296] = 0; - out_3360900556715541089[297] = 0; - out_3360900556715541089[298] = 0; - out_3360900556715541089[299] = 0; - out_3360900556715541089[300] = 0; - out_3360900556715541089[301] = 0; - out_3360900556715541089[302] = 0; - out_3360900556715541089[303] = 0; - out_3360900556715541089[304] = 1; - out_3360900556715541089[305] = 0; - out_3360900556715541089[306] = 0; - out_3360900556715541089[307] = 0; - out_3360900556715541089[308] = 0; - out_3360900556715541089[309] = 0; - out_3360900556715541089[310] = 0; - out_3360900556715541089[311] = 0; - out_3360900556715541089[312] = 0; - out_3360900556715541089[313] = 0; - out_3360900556715541089[314] = 0; - out_3360900556715541089[315] = 0; - out_3360900556715541089[316] = 0; - out_3360900556715541089[317] = 0; - out_3360900556715541089[318] = 0; - out_3360900556715541089[319] = 0; - out_3360900556715541089[320] = 0; - out_3360900556715541089[321] = 0; - out_3360900556715541089[322] = 0; - out_3360900556715541089[323] = 1; +void F_fun(double *state, double dt, double *out_3951309264317131877) { + out_3951309264317131877[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3951309264317131877[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3951309264317131877[2] = 0; + out_3951309264317131877[3] = 0; + out_3951309264317131877[4] = 0; + out_3951309264317131877[5] = 0; + out_3951309264317131877[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3951309264317131877[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3951309264317131877[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_3951309264317131877[9] = 0; + out_3951309264317131877[10] = 0; + out_3951309264317131877[11] = 0; + out_3951309264317131877[12] = 0; + out_3951309264317131877[13] = 0; + out_3951309264317131877[14] = 0; + out_3951309264317131877[15] = 0; + out_3951309264317131877[16] = 0; + out_3951309264317131877[17] = 0; + out_3951309264317131877[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3951309264317131877[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3951309264317131877[20] = 0; + out_3951309264317131877[21] = 0; + out_3951309264317131877[22] = 0; + out_3951309264317131877[23] = 0; + out_3951309264317131877[24] = 0; + out_3951309264317131877[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3951309264317131877[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_3951309264317131877[27] = 0; + out_3951309264317131877[28] = 0; + out_3951309264317131877[29] = 0; + out_3951309264317131877[30] = 0; + out_3951309264317131877[31] = 0; + out_3951309264317131877[32] = 0; + out_3951309264317131877[33] = 0; + out_3951309264317131877[34] = 0; + out_3951309264317131877[35] = 0; + out_3951309264317131877[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3951309264317131877[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3951309264317131877[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3951309264317131877[39] = 0; + out_3951309264317131877[40] = 0; + out_3951309264317131877[41] = 0; + out_3951309264317131877[42] = 0; + out_3951309264317131877[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3951309264317131877[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_3951309264317131877[45] = 0; + out_3951309264317131877[46] = 0; + out_3951309264317131877[47] = 0; + out_3951309264317131877[48] = 0; + out_3951309264317131877[49] = 0; + out_3951309264317131877[50] = 0; + out_3951309264317131877[51] = 0; + out_3951309264317131877[52] = 0; + out_3951309264317131877[53] = 0; + out_3951309264317131877[54] = 0; + out_3951309264317131877[55] = 0; + out_3951309264317131877[56] = 0; + out_3951309264317131877[57] = 1; + out_3951309264317131877[58] = 0; + out_3951309264317131877[59] = 0; + out_3951309264317131877[60] = 0; + out_3951309264317131877[61] = 0; + out_3951309264317131877[62] = 0; + out_3951309264317131877[63] = 0; + out_3951309264317131877[64] = 0; + out_3951309264317131877[65] = 0; + out_3951309264317131877[66] = dt; + out_3951309264317131877[67] = 0; + out_3951309264317131877[68] = 0; + out_3951309264317131877[69] = 0; + out_3951309264317131877[70] = 0; + out_3951309264317131877[71] = 0; + out_3951309264317131877[72] = 0; + out_3951309264317131877[73] = 0; + out_3951309264317131877[74] = 0; + out_3951309264317131877[75] = 0; + out_3951309264317131877[76] = 1; + out_3951309264317131877[77] = 0; + out_3951309264317131877[78] = 0; + out_3951309264317131877[79] = 0; + out_3951309264317131877[80] = 0; + out_3951309264317131877[81] = 0; + out_3951309264317131877[82] = 0; + out_3951309264317131877[83] = 0; + out_3951309264317131877[84] = 0; + out_3951309264317131877[85] = dt; + out_3951309264317131877[86] = 0; + out_3951309264317131877[87] = 0; + out_3951309264317131877[88] = 0; + out_3951309264317131877[89] = 0; + out_3951309264317131877[90] = 0; + out_3951309264317131877[91] = 0; + out_3951309264317131877[92] = 0; + out_3951309264317131877[93] = 0; + out_3951309264317131877[94] = 0; + out_3951309264317131877[95] = 1; + out_3951309264317131877[96] = 0; + out_3951309264317131877[97] = 0; + out_3951309264317131877[98] = 0; + out_3951309264317131877[99] = 0; + out_3951309264317131877[100] = 0; + out_3951309264317131877[101] = 0; + out_3951309264317131877[102] = 0; + out_3951309264317131877[103] = 0; + out_3951309264317131877[104] = dt; + out_3951309264317131877[105] = 0; + out_3951309264317131877[106] = 0; + out_3951309264317131877[107] = 0; + out_3951309264317131877[108] = 0; + out_3951309264317131877[109] = 0; + out_3951309264317131877[110] = 0; + out_3951309264317131877[111] = 0; + out_3951309264317131877[112] = 0; + out_3951309264317131877[113] = 0; + out_3951309264317131877[114] = 1; + out_3951309264317131877[115] = 0; + out_3951309264317131877[116] = 0; + out_3951309264317131877[117] = 0; + out_3951309264317131877[118] = 0; + out_3951309264317131877[119] = 0; + out_3951309264317131877[120] = 0; + out_3951309264317131877[121] = 0; + out_3951309264317131877[122] = 0; + out_3951309264317131877[123] = 0; + out_3951309264317131877[124] = 0; + out_3951309264317131877[125] = 0; + out_3951309264317131877[126] = 0; + out_3951309264317131877[127] = 0; + out_3951309264317131877[128] = 0; + out_3951309264317131877[129] = 0; + out_3951309264317131877[130] = 0; + out_3951309264317131877[131] = 0; + out_3951309264317131877[132] = 0; + out_3951309264317131877[133] = 1; + out_3951309264317131877[134] = 0; + out_3951309264317131877[135] = 0; + out_3951309264317131877[136] = 0; + out_3951309264317131877[137] = 0; + out_3951309264317131877[138] = 0; + out_3951309264317131877[139] = 0; + out_3951309264317131877[140] = 0; + out_3951309264317131877[141] = 0; + out_3951309264317131877[142] = 0; + out_3951309264317131877[143] = 0; + out_3951309264317131877[144] = 0; + out_3951309264317131877[145] = 0; + out_3951309264317131877[146] = 0; + out_3951309264317131877[147] = 0; + out_3951309264317131877[148] = 0; + out_3951309264317131877[149] = 0; + out_3951309264317131877[150] = 0; + out_3951309264317131877[151] = 0; + out_3951309264317131877[152] = 1; + out_3951309264317131877[153] = 0; + out_3951309264317131877[154] = 0; + out_3951309264317131877[155] = 0; + out_3951309264317131877[156] = 0; + out_3951309264317131877[157] = 0; + out_3951309264317131877[158] = 0; + out_3951309264317131877[159] = 0; + out_3951309264317131877[160] = 0; + out_3951309264317131877[161] = 0; + out_3951309264317131877[162] = 0; + out_3951309264317131877[163] = 0; + out_3951309264317131877[164] = 0; + out_3951309264317131877[165] = 0; + out_3951309264317131877[166] = 0; + out_3951309264317131877[167] = 0; + out_3951309264317131877[168] = 0; + out_3951309264317131877[169] = 0; + out_3951309264317131877[170] = 0; + out_3951309264317131877[171] = 1; + out_3951309264317131877[172] = 0; + out_3951309264317131877[173] = 0; + out_3951309264317131877[174] = 0; + out_3951309264317131877[175] = 0; + out_3951309264317131877[176] = 0; + out_3951309264317131877[177] = 0; + out_3951309264317131877[178] = 0; + out_3951309264317131877[179] = 0; + out_3951309264317131877[180] = 0; + out_3951309264317131877[181] = 0; + out_3951309264317131877[182] = 0; + out_3951309264317131877[183] = 0; + out_3951309264317131877[184] = 0; + out_3951309264317131877[185] = 0; + out_3951309264317131877[186] = 0; + out_3951309264317131877[187] = 0; + out_3951309264317131877[188] = 0; + out_3951309264317131877[189] = 0; + out_3951309264317131877[190] = 1; + out_3951309264317131877[191] = 0; + out_3951309264317131877[192] = 0; + out_3951309264317131877[193] = 0; + out_3951309264317131877[194] = 0; + out_3951309264317131877[195] = 0; + out_3951309264317131877[196] = 0; + out_3951309264317131877[197] = 0; + out_3951309264317131877[198] = 0; + out_3951309264317131877[199] = 0; + out_3951309264317131877[200] = 0; + out_3951309264317131877[201] = 0; + out_3951309264317131877[202] = 0; + out_3951309264317131877[203] = 0; + out_3951309264317131877[204] = 0; + out_3951309264317131877[205] = 0; + out_3951309264317131877[206] = 0; + out_3951309264317131877[207] = 0; + out_3951309264317131877[208] = 0; + out_3951309264317131877[209] = 1; + out_3951309264317131877[210] = 0; + out_3951309264317131877[211] = 0; + out_3951309264317131877[212] = 0; + out_3951309264317131877[213] = 0; + out_3951309264317131877[214] = 0; + out_3951309264317131877[215] = 0; + out_3951309264317131877[216] = 0; + out_3951309264317131877[217] = 0; + out_3951309264317131877[218] = 0; + out_3951309264317131877[219] = 0; + out_3951309264317131877[220] = 0; + out_3951309264317131877[221] = 0; + out_3951309264317131877[222] = 0; + out_3951309264317131877[223] = 0; + out_3951309264317131877[224] = 0; + out_3951309264317131877[225] = 0; + out_3951309264317131877[226] = 0; + out_3951309264317131877[227] = 0; + out_3951309264317131877[228] = 1; + out_3951309264317131877[229] = 0; + out_3951309264317131877[230] = 0; + out_3951309264317131877[231] = 0; + out_3951309264317131877[232] = 0; + out_3951309264317131877[233] = 0; + out_3951309264317131877[234] = 0; + out_3951309264317131877[235] = 0; + out_3951309264317131877[236] = 0; + out_3951309264317131877[237] = 0; + out_3951309264317131877[238] = 0; + out_3951309264317131877[239] = 0; + out_3951309264317131877[240] = 0; + out_3951309264317131877[241] = 0; + out_3951309264317131877[242] = 0; + out_3951309264317131877[243] = 0; + out_3951309264317131877[244] = 0; + out_3951309264317131877[245] = 0; + out_3951309264317131877[246] = 0; + out_3951309264317131877[247] = 1; + out_3951309264317131877[248] = 0; + out_3951309264317131877[249] = 0; + out_3951309264317131877[250] = 0; + out_3951309264317131877[251] = 0; + out_3951309264317131877[252] = 0; + out_3951309264317131877[253] = 0; + out_3951309264317131877[254] = 0; + out_3951309264317131877[255] = 0; + out_3951309264317131877[256] = 0; + out_3951309264317131877[257] = 0; + out_3951309264317131877[258] = 0; + out_3951309264317131877[259] = 0; + out_3951309264317131877[260] = 0; + out_3951309264317131877[261] = 0; + out_3951309264317131877[262] = 0; + out_3951309264317131877[263] = 0; + out_3951309264317131877[264] = 0; + out_3951309264317131877[265] = 0; + out_3951309264317131877[266] = 1; + out_3951309264317131877[267] = 0; + out_3951309264317131877[268] = 0; + out_3951309264317131877[269] = 0; + out_3951309264317131877[270] = 0; + out_3951309264317131877[271] = 0; + out_3951309264317131877[272] = 0; + out_3951309264317131877[273] = 0; + out_3951309264317131877[274] = 0; + out_3951309264317131877[275] = 0; + out_3951309264317131877[276] = 0; + out_3951309264317131877[277] = 0; + out_3951309264317131877[278] = 0; + out_3951309264317131877[279] = 0; + out_3951309264317131877[280] = 0; + out_3951309264317131877[281] = 0; + out_3951309264317131877[282] = 0; + out_3951309264317131877[283] = 0; + out_3951309264317131877[284] = 0; + out_3951309264317131877[285] = 1; + out_3951309264317131877[286] = 0; + out_3951309264317131877[287] = 0; + out_3951309264317131877[288] = 0; + out_3951309264317131877[289] = 0; + out_3951309264317131877[290] = 0; + out_3951309264317131877[291] = 0; + out_3951309264317131877[292] = 0; + out_3951309264317131877[293] = 0; + out_3951309264317131877[294] = 0; + out_3951309264317131877[295] = 0; + out_3951309264317131877[296] = 0; + out_3951309264317131877[297] = 0; + out_3951309264317131877[298] = 0; + out_3951309264317131877[299] = 0; + out_3951309264317131877[300] = 0; + out_3951309264317131877[301] = 0; + out_3951309264317131877[302] = 0; + out_3951309264317131877[303] = 0; + out_3951309264317131877[304] = 1; + out_3951309264317131877[305] = 0; + out_3951309264317131877[306] = 0; + out_3951309264317131877[307] = 0; + out_3951309264317131877[308] = 0; + out_3951309264317131877[309] = 0; + out_3951309264317131877[310] = 0; + out_3951309264317131877[311] = 0; + out_3951309264317131877[312] = 0; + out_3951309264317131877[313] = 0; + out_3951309264317131877[314] = 0; + out_3951309264317131877[315] = 0; + out_3951309264317131877[316] = 0; + out_3951309264317131877[317] = 0; + out_3951309264317131877[318] = 0; + out_3951309264317131877[319] = 0; + out_3951309264317131877[320] = 0; + out_3951309264317131877[321] = 0; + out_3951309264317131877[322] = 0; + out_3951309264317131877[323] = 1; } -void h_4(double *state, double *unused, double *out_6781682784175939845) { - out_6781682784175939845[0] = state[6] + state[9]; - out_6781682784175939845[1] = state[7] + state[10]; - out_6781682784175939845[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_9124951261160774984) { + out_9124951261160774984[0] = state[6] + state[9]; + out_9124951261160774984[1] = state[7] + state[10]; + out_9124951261160774984[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2076589360278435259) { - out_2076589360278435259[0] = 0; - out_2076589360278435259[1] = 0; - out_2076589360278435259[2] = 0; - out_2076589360278435259[3] = 0; - out_2076589360278435259[4] = 0; - out_2076589360278435259[5] = 0; - out_2076589360278435259[6] = 1; - out_2076589360278435259[7] = 0; - out_2076589360278435259[8] = 0; - out_2076589360278435259[9] = 1; - out_2076589360278435259[10] = 0; - out_2076589360278435259[11] = 0; - out_2076589360278435259[12] = 0; - out_2076589360278435259[13] = 0; - out_2076589360278435259[14] = 0; - out_2076589360278435259[15] = 0; - out_2076589360278435259[16] = 0; - out_2076589360278435259[17] = 0; - out_2076589360278435259[18] = 0; - out_2076589360278435259[19] = 0; - out_2076589360278435259[20] = 0; - out_2076589360278435259[21] = 0; - out_2076589360278435259[22] = 0; - out_2076589360278435259[23] = 0; - out_2076589360278435259[24] = 0; - out_2076589360278435259[25] = 1; - out_2076589360278435259[26] = 0; - out_2076589360278435259[27] = 0; - out_2076589360278435259[28] = 1; - out_2076589360278435259[29] = 0; - out_2076589360278435259[30] = 0; - out_2076589360278435259[31] = 0; - out_2076589360278435259[32] = 0; - out_2076589360278435259[33] = 0; - out_2076589360278435259[34] = 0; - out_2076589360278435259[35] = 0; - out_2076589360278435259[36] = 0; - out_2076589360278435259[37] = 0; - out_2076589360278435259[38] = 0; - out_2076589360278435259[39] = 0; - out_2076589360278435259[40] = 0; - out_2076589360278435259[41] = 0; - out_2076589360278435259[42] = 0; - out_2076589360278435259[43] = 0; - out_2076589360278435259[44] = 1; - out_2076589360278435259[45] = 0; - out_2076589360278435259[46] = 0; - out_2076589360278435259[47] = 1; - out_2076589360278435259[48] = 0; - out_2076589360278435259[49] = 0; - out_2076589360278435259[50] = 0; - out_2076589360278435259[51] = 0; - out_2076589360278435259[52] = 0; - out_2076589360278435259[53] = 0; +void H_4(double *state, double *unused, double *out_1981390687992897839) { + out_1981390687992897839[0] = 0; + out_1981390687992897839[1] = 0; + out_1981390687992897839[2] = 0; + out_1981390687992897839[3] = 0; + out_1981390687992897839[4] = 0; + out_1981390687992897839[5] = 0; + out_1981390687992897839[6] = 1; + out_1981390687992897839[7] = 0; + out_1981390687992897839[8] = 0; + out_1981390687992897839[9] = 1; + out_1981390687992897839[10] = 0; + out_1981390687992897839[11] = 0; + out_1981390687992897839[12] = 0; + out_1981390687992897839[13] = 0; + out_1981390687992897839[14] = 0; + out_1981390687992897839[15] = 0; + out_1981390687992897839[16] = 0; + out_1981390687992897839[17] = 0; + out_1981390687992897839[18] = 0; + out_1981390687992897839[19] = 0; + out_1981390687992897839[20] = 0; + out_1981390687992897839[21] = 0; + out_1981390687992897839[22] = 0; + out_1981390687992897839[23] = 0; + out_1981390687992897839[24] = 0; + out_1981390687992897839[25] = 1; + out_1981390687992897839[26] = 0; + out_1981390687992897839[27] = 0; + out_1981390687992897839[28] = 1; + out_1981390687992897839[29] = 0; + out_1981390687992897839[30] = 0; + out_1981390687992897839[31] = 0; + out_1981390687992897839[32] = 0; + out_1981390687992897839[33] = 0; + out_1981390687992897839[34] = 0; + out_1981390687992897839[35] = 0; + out_1981390687992897839[36] = 0; + out_1981390687992897839[37] = 0; + out_1981390687992897839[38] = 0; + out_1981390687992897839[39] = 0; + out_1981390687992897839[40] = 0; + out_1981390687992897839[41] = 0; + out_1981390687992897839[42] = 0; + out_1981390687992897839[43] = 0; + out_1981390687992897839[44] = 1; + out_1981390687992897839[45] = 0; + out_1981390687992897839[46] = 0; + out_1981390687992897839[47] = 1; + out_1981390687992897839[48] = 0; + out_1981390687992897839[49] = 0; + out_1981390687992897839[50] = 0; + out_1981390687992897839[51] = 0; + out_1981390687992897839[52] = 0; + out_1981390687992897839[53] = 0; } -void h_10(double *state, double *unused, double *out_4409132040641892266) { - out_4409132040641892266[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4409132040641892266[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4409132040641892266[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_5902756371163799354) { + out_5902756371163799354[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5902756371163799354[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5902756371163799354[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_6826621589500186302) { - out_6826621589500186302[0] = 0; - out_6826621589500186302[1] = 9.8100000000000005*cos(state[1]); - out_6826621589500186302[2] = 0; - out_6826621589500186302[3] = 0; - out_6826621589500186302[4] = -state[8]; - out_6826621589500186302[5] = state[7]; - out_6826621589500186302[6] = 0; - out_6826621589500186302[7] = state[5]; - out_6826621589500186302[8] = -state[4]; - out_6826621589500186302[9] = 0; - out_6826621589500186302[10] = 0; - out_6826621589500186302[11] = 0; - out_6826621589500186302[12] = 1; - out_6826621589500186302[13] = 0; - out_6826621589500186302[14] = 0; - out_6826621589500186302[15] = 1; - out_6826621589500186302[16] = 0; - out_6826621589500186302[17] = 0; - out_6826621589500186302[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6826621589500186302[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6826621589500186302[20] = 0; - out_6826621589500186302[21] = state[8]; - out_6826621589500186302[22] = 0; - out_6826621589500186302[23] = -state[6]; - out_6826621589500186302[24] = -state[5]; - out_6826621589500186302[25] = 0; - out_6826621589500186302[26] = state[3]; - out_6826621589500186302[27] = 0; - out_6826621589500186302[28] = 0; - out_6826621589500186302[29] = 0; - out_6826621589500186302[30] = 0; - out_6826621589500186302[31] = 1; - out_6826621589500186302[32] = 0; - out_6826621589500186302[33] = 0; - out_6826621589500186302[34] = 1; - out_6826621589500186302[35] = 0; - out_6826621589500186302[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6826621589500186302[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6826621589500186302[38] = 0; - out_6826621589500186302[39] = -state[7]; - out_6826621589500186302[40] = state[6]; - out_6826621589500186302[41] = 0; - out_6826621589500186302[42] = state[4]; - out_6826621589500186302[43] = -state[3]; - out_6826621589500186302[44] = 0; - out_6826621589500186302[45] = 0; - out_6826621589500186302[46] = 0; - out_6826621589500186302[47] = 0; - out_6826621589500186302[48] = 0; - out_6826621589500186302[49] = 0; - out_6826621589500186302[50] = 1; - out_6826621589500186302[51] = 0; - out_6826621589500186302[52] = 0; - out_6826621589500186302[53] = 1; +void H_10(double *state, double *unused, double *out_3301172069868817257) { + out_3301172069868817257[0] = 0; + out_3301172069868817257[1] = 9.8100000000000005*cos(state[1]); + out_3301172069868817257[2] = 0; + out_3301172069868817257[3] = 0; + out_3301172069868817257[4] = -state[8]; + out_3301172069868817257[5] = state[7]; + out_3301172069868817257[6] = 0; + out_3301172069868817257[7] = state[5]; + out_3301172069868817257[8] = -state[4]; + out_3301172069868817257[9] = 0; + out_3301172069868817257[10] = 0; + out_3301172069868817257[11] = 0; + out_3301172069868817257[12] = 1; + out_3301172069868817257[13] = 0; + out_3301172069868817257[14] = 0; + out_3301172069868817257[15] = 1; + out_3301172069868817257[16] = 0; + out_3301172069868817257[17] = 0; + out_3301172069868817257[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3301172069868817257[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3301172069868817257[20] = 0; + out_3301172069868817257[21] = state[8]; + out_3301172069868817257[22] = 0; + out_3301172069868817257[23] = -state[6]; + out_3301172069868817257[24] = -state[5]; + out_3301172069868817257[25] = 0; + out_3301172069868817257[26] = state[3]; + out_3301172069868817257[27] = 0; + out_3301172069868817257[28] = 0; + out_3301172069868817257[29] = 0; + out_3301172069868817257[30] = 0; + out_3301172069868817257[31] = 1; + out_3301172069868817257[32] = 0; + out_3301172069868817257[33] = 0; + out_3301172069868817257[34] = 1; + out_3301172069868817257[35] = 0; + out_3301172069868817257[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3301172069868817257[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3301172069868817257[38] = 0; + out_3301172069868817257[39] = -state[7]; + out_3301172069868817257[40] = state[6]; + out_3301172069868817257[41] = 0; + out_3301172069868817257[42] = state[4]; + out_3301172069868817257[43] = -state[3]; + out_3301172069868817257[44] = 0; + out_3301172069868817257[45] = 0; + out_3301172069868817257[46] = 0; + out_3301172069868817257[47] = 0; + out_3301172069868817257[48] = 0; + out_3301172069868817257[49] = 0; + out_3301172069868817257[50] = 1; + out_3301172069868817257[51] = 0; + out_3301172069868817257[52] = 0; + out_3301172069868817257[53] = 1; } -void h_13(double *state, double *unused, double *out_1754250637475505882) { - out_1754250637475505882[0] = state[3]; - out_1754250637475505882[1] = state[4]; - out_1754250637475505882[2] = state[5]; +void h_13(double *state, double *unused, double *out_1037730484658777493) { + out_1037730484658777493[0] = state[3]; + out_1037730484658777493[1] = state[4]; + out_1037730484658777493[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1135684465053897542) { - out_1135684465053897542[0] = 0; - out_1135684465053897542[1] = 0; - out_1135684465053897542[2] = 0; - out_1135684465053897542[3] = 1; - out_1135684465053897542[4] = 0; - out_1135684465053897542[5] = 0; - out_1135684465053897542[6] = 0; - out_1135684465053897542[7] = 0; - out_1135684465053897542[8] = 0; - out_1135684465053897542[9] = 0; - out_1135684465053897542[10] = 0; - out_1135684465053897542[11] = 0; - out_1135684465053897542[12] = 0; - out_1135684465053897542[13] = 0; - out_1135684465053897542[14] = 0; - out_1135684465053897542[15] = 0; - out_1135684465053897542[16] = 0; - out_1135684465053897542[17] = 0; - out_1135684465053897542[18] = 0; - out_1135684465053897542[19] = 0; - out_1135684465053897542[20] = 0; - out_1135684465053897542[21] = 0; - out_1135684465053897542[22] = 1; - out_1135684465053897542[23] = 0; - out_1135684465053897542[24] = 0; - out_1135684465053897542[25] = 0; - out_1135684465053897542[26] = 0; - out_1135684465053897542[27] = 0; - out_1135684465053897542[28] = 0; - out_1135684465053897542[29] = 0; - out_1135684465053897542[30] = 0; - out_1135684465053897542[31] = 0; - out_1135684465053897542[32] = 0; - out_1135684465053897542[33] = 0; - out_1135684465053897542[34] = 0; - out_1135684465053897542[35] = 0; - out_1135684465053897542[36] = 0; - out_1135684465053897542[37] = 0; - out_1135684465053897542[38] = 0; - out_1135684465053897542[39] = 0; - out_1135684465053897542[40] = 0; - out_1135684465053897542[41] = 1; - out_1135684465053897542[42] = 0; - out_1135684465053897542[43] = 0; - out_1135684465053897542[44] = 0; - out_1135684465053897542[45] = 0; - out_1135684465053897542[46] = 0; - out_1135684465053897542[47] = 0; - out_1135684465053897542[48] = 0; - out_1135684465053897542[49] = 0; - out_1135684465053897542[50] = 0; - out_1135684465053897542[51] = 0; - out_1135684465053897542[52] = 0; - out_1135684465053897542[53] = 0; +void H_13(double *state, double *unused, double *out_1230883137339434962) { + out_1230883137339434962[0] = 0; + out_1230883137339434962[1] = 0; + out_1230883137339434962[2] = 0; + out_1230883137339434962[3] = 1; + out_1230883137339434962[4] = 0; + out_1230883137339434962[5] = 0; + out_1230883137339434962[6] = 0; + out_1230883137339434962[7] = 0; + out_1230883137339434962[8] = 0; + out_1230883137339434962[9] = 0; + out_1230883137339434962[10] = 0; + out_1230883137339434962[11] = 0; + out_1230883137339434962[12] = 0; + out_1230883137339434962[13] = 0; + out_1230883137339434962[14] = 0; + out_1230883137339434962[15] = 0; + out_1230883137339434962[16] = 0; + out_1230883137339434962[17] = 0; + out_1230883137339434962[18] = 0; + out_1230883137339434962[19] = 0; + out_1230883137339434962[20] = 0; + out_1230883137339434962[21] = 0; + out_1230883137339434962[22] = 1; + out_1230883137339434962[23] = 0; + out_1230883137339434962[24] = 0; + out_1230883137339434962[25] = 0; + out_1230883137339434962[26] = 0; + out_1230883137339434962[27] = 0; + out_1230883137339434962[28] = 0; + out_1230883137339434962[29] = 0; + out_1230883137339434962[30] = 0; + out_1230883137339434962[31] = 0; + out_1230883137339434962[32] = 0; + out_1230883137339434962[33] = 0; + out_1230883137339434962[34] = 0; + out_1230883137339434962[35] = 0; + out_1230883137339434962[36] = 0; + out_1230883137339434962[37] = 0; + out_1230883137339434962[38] = 0; + out_1230883137339434962[39] = 0; + out_1230883137339434962[40] = 0; + out_1230883137339434962[41] = 1; + out_1230883137339434962[42] = 0; + out_1230883137339434962[43] = 0; + out_1230883137339434962[44] = 0; + out_1230883137339434962[45] = 0; + out_1230883137339434962[46] = 0; + out_1230883137339434962[47] = 0; + out_1230883137339434962[48] = 0; + out_1230883137339434962[49] = 0; + out_1230883137339434962[50] = 0; + out_1230883137339434962[51] = 0; + out_1230883137339434962[52] = 0; + out_1230883137339434962[53] = 0; } -void h_14(double *state, double *unused, double *out_2425630726311968111) { - out_2425630726311968111[0] = state[6]; - out_2425630726311968111[1] = state[7]; - out_2425630726311968111[2] = state[8]; +void h_14(double *state, double *unused, double *out_8550422043798884554) { + out_8550422043798884554[0] = state[6]; + out_8550422043798884554[1] = state[7]; + out_8550422043798884554[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1886651496061049270) { - out_1886651496061049270[0] = 0; - out_1886651496061049270[1] = 0; - out_1886651496061049270[2] = 0; - out_1886651496061049270[3] = 0; - out_1886651496061049270[4] = 0; - out_1886651496061049270[5] = 0; - out_1886651496061049270[6] = 1; - out_1886651496061049270[7] = 0; - out_1886651496061049270[8] = 0; - out_1886651496061049270[9] = 0; - out_1886651496061049270[10] = 0; - out_1886651496061049270[11] = 0; - out_1886651496061049270[12] = 0; - out_1886651496061049270[13] = 0; - out_1886651496061049270[14] = 0; - out_1886651496061049270[15] = 0; - out_1886651496061049270[16] = 0; - out_1886651496061049270[17] = 0; - out_1886651496061049270[18] = 0; - out_1886651496061049270[19] = 0; - out_1886651496061049270[20] = 0; - out_1886651496061049270[21] = 0; - out_1886651496061049270[22] = 0; - out_1886651496061049270[23] = 0; - out_1886651496061049270[24] = 0; - out_1886651496061049270[25] = 1; - out_1886651496061049270[26] = 0; - out_1886651496061049270[27] = 0; - out_1886651496061049270[28] = 0; - out_1886651496061049270[29] = 0; - out_1886651496061049270[30] = 0; - out_1886651496061049270[31] = 0; - out_1886651496061049270[32] = 0; - out_1886651496061049270[33] = 0; - out_1886651496061049270[34] = 0; - out_1886651496061049270[35] = 0; - out_1886651496061049270[36] = 0; - out_1886651496061049270[37] = 0; - out_1886651496061049270[38] = 0; - out_1886651496061049270[39] = 0; - out_1886651496061049270[40] = 0; - out_1886651496061049270[41] = 0; - out_1886651496061049270[42] = 0; - out_1886651496061049270[43] = 0; - out_1886651496061049270[44] = 1; - out_1886651496061049270[45] = 0; - out_1886651496061049270[46] = 0; - out_1886651496061049270[47] = 0; - out_1886651496061049270[48] = 0; - out_1886651496061049270[49] = 0; - out_1886651496061049270[50] = 0; - out_1886651496061049270[51] = 0; - out_1886651496061049270[52] = 0; - out_1886651496061049270[53] = 0; +void H_14(double *state, double *unused, double *out_5064179120288270135) { + out_5064179120288270135[0] = 0; + out_5064179120288270135[1] = 0; + out_5064179120288270135[2] = 0; + out_5064179120288270135[3] = 0; + out_5064179120288270135[4] = 0; + out_5064179120288270135[5] = 0; + out_5064179120288270135[6] = 1; + out_5064179120288270135[7] = 0; + out_5064179120288270135[8] = 0; + out_5064179120288270135[9] = 0; + out_5064179120288270135[10] = 0; + out_5064179120288270135[11] = 0; + out_5064179120288270135[12] = 0; + out_5064179120288270135[13] = 0; + out_5064179120288270135[14] = 0; + out_5064179120288270135[15] = 0; + out_5064179120288270135[16] = 0; + out_5064179120288270135[17] = 0; + out_5064179120288270135[18] = 0; + out_5064179120288270135[19] = 0; + out_5064179120288270135[20] = 0; + out_5064179120288270135[21] = 0; + out_5064179120288270135[22] = 0; + out_5064179120288270135[23] = 0; + out_5064179120288270135[24] = 0; + out_5064179120288270135[25] = 1; + out_5064179120288270135[26] = 0; + out_5064179120288270135[27] = 0; + out_5064179120288270135[28] = 0; + out_5064179120288270135[29] = 0; + out_5064179120288270135[30] = 0; + out_5064179120288270135[31] = 0; + out_5064179120288270135[32] = 0; + out_5064179120288270135[33] = 0; + out_5064179120288270135[34] = 0; + out_5064179120288270135[35] = 0; + out_5064179120288270135[36] = 0; + out_5064179120288270135[37] = 0; + out_5064179120288270135[38] = 0; + out_5064179120288270135[39] = 0; + out_5064179120288270135[40] = 0; + out_5064179120288270135[41] = 0; + out_5064179120288270135[42] = 0; + out_5064179120288270135[43] = 0; + out_5064179120288270135[44] = 1; + out_5064179120288270135[45] = 0; + out_5064179120288270135[46] = 0; + out_5064179120288270135[47] = 0; + out_5064179120288270135[48] = 0; + out_5064179120288270135[49] = 0; + out_5064179120288270135[50] = 0; + out_5064179120288270135[51] = 0; + out_5064179120288270135[52] = 0; + out_5064179120288270135[53] = 0; } #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_709589957515877441) { - err_fun(nom_x, delta_x, out_709589957515877441); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4358722787451740543) { + err_fun(nom_x, delta_x, out_4358722787451740543); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3661238081000149023) { - inv_err_fun(nom_x, true_x, out_3661238081000149023); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8563351397910358896) { + inv_err_fun(nom_x, true_x, out_8563351397910358896); } -void pose_H_mod_fun(double *state, double *out_3274536842161333363) { - H_mod_fun(state, out_3274536842161333363); +void pose_H_mod_fun(double *state, double *out_5753197897836805411) { + H_mod_fun(state, out_5753197897836805411); } -void pose_f_fun(double *state, double dt, double *out_54085149498667220) { - f_fun(state, dt, out_54085149498667220); +void pose_f_fun(double *state, double dt, double *out_4934931273554332776) { + f_fun(state, dt, out_4934931273554332776); } -void pose_F_fun(double *state, double dt, double *out_3360900556715541089) { - F_fun(state, dt, out_3360900556715541089); +void pose_F_fun(double *state, double dt, double *out_3951309264317131877) { + F_fun(state, dt, out_3951309264317131877); } -void pose_h_4(double *state, double *unused, double *out_6781682784175939845) { - h_4(state, unused, out_6781682784175939845); +void pose_h_4(double *state, double *unused, double *out_9124951261160774984) { + h_4(state, unused, out_9124951261160774984); } -void pose_H_4(double *state, double *unused, double *out_2076589360278435259) { - H_4(state, unused, out_2076589360278435259); +void pose_H_4(double *state, double *unused, double *out_1981390687992897839) { + H_4(state, unused, out_1981390687992897839); } -void pose_h_10(double *state, double *unused, double *out_4409132040641892266) { - h_10(state, unused, out_4409132040641892266); +void pose_h_10(double *state, double *unused, double *out_5902756371163799354) { + h_10(state, unused, out_5902756371163799354); } -void pose_H_10(double *state, double *unused, double *out_6826621589500186302) { - H_10(state, unused, out_6826621589500186302); +void pose_H_10(double *state, double *unused, double *out_3301172069868817257) { + H_10(state, unused, out_3301172069868817257); } -void pose_h_13(double *state, double *unused, double *out_1754250637475505882) { - h_13(state, unused, out_1754250637475505882); +void pose_h_13(double *state, double *unused, double *out_1037730484658777493) { + h_13(state, unused, out_1037730484658777493); } -void pose_H_13(double *state, double *unused, double *out_1135684465053897542) { - H_13(state, unused, out_1135684465053897542); +void pose_H_13(double *state, double *unused, double *out_1230883137339434962) { + H_13(state, unused, out_1230883137339434962); } -void pose_h_14(double *state, double *unused, double *out_2425630726311968111) { - h_14(state, unused, out_2425630726311968111); +void pose_h_14(double *state, double *unused, double *out_8550422043798884554) { + h_14(state, unused, out_8550422043798884554); } -void pose_H_14(double *state, double *unused, double *out_1886651496061049270) { - H_14(state, unused, out_1886651496061049270); +void pose_H_14(double *state, double *unused, double *out_5064179120288270135) { + H_14(state, unused, out_5064179120288270135); } 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 4488ac0a3..abd08d736 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_709589957515877441); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3661238081000149023); -void pose_H_mod_fun(double *state, double *out_3274536842161333363); -void pose_f_fun(double *state, double dt, double *out_54085149498667220); -void pose_F_fun(double *state, double dt, double *out_3360900556715541089); -void pose_h_4(double *state, double *unused, double *out_6781682784175939845); -void pose_H_4(double *state, double *unused, double *out_2076589360278435259); -void pose_h_10(double *state, double *unused, double *out_4409132040641892266); -void pose_H_10(double *state, double *unused, double *out_6826621589500186302); -void pose_h_13(double *state, double *unused, double *out_1754250637475505882); -void pose_H_13(double *state, double *unused, double *out_1135684465053897542); -void pose_h_14(double *state, double *unused, double *out_2425630726311968111); -void pose_H_14(double *state, double *unused, double *out_1886651496061049270); +void pose_err_fun(double *nom_x, double *delta_x, double *out_4358722787451740543); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8563351397910358896); +void pose_H_mod_fun(double *state, double *out_5753197897836805411); +void pose_f_fun(double *state, double dt, double *out_4934931273554332776); +void pose_F_fun(double *state, double dt, double *out_3951309264317131877); +void pose_h_4(double *state, double *unused, double *out_9124951261160774984); +void pose_H_4(double *state, double *unused, double *out_1981390687992897839); +void pose_h_10(double *state, double *unused, double *out_5902756371163799354); +void pose_H_10(double *state, double *unused, double *out_3301172069868817257); +void pose_h_13(double *state, double *unused, double *out_1037730484658777493); +void pose_H_13(double *state, double *unused, double *out_1230883137339434962); +void pose_h_14(double *state, double *unused, double *out_8550422043798884554); +void pose_H_14(double *state, double *unused, double *out_5064179120288270135); void pose_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 f56ed6483..707c290a3 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 442d0b999..349715756 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 0d836a649..6afa891f4 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 79ddf894c..9a0523dbe 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index ece96201a..a8368f0d8 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ