diff --git a/common/libcommon.a b/common/libcommon.a index 8f7fd325e..09b8c4bc1 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 5ba34cbc9..a724e2c52 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 c6de4bd09..63e7931d8 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 f80df7adf..1c1940765 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 fcb68a53f..7ac81dbf3 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git 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-const uint8_t gitversion[19] = "DEV-028ee7b3-DEBUG"; +const uint8_t gitversion[19] = "DEV-f0601e27-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index cc7af0bc8..ac2e59792 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 e531c0a71..dd91ee233 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 44f5eab5d..8b60bdf0f 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 53b31e7ff..f35285bbb 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 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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 new file mode 100755 index 000000000..eef6fd923 Binary files /dev/null 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 2b6d75b05..e45bad33c 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-028ee7b3-DEBUG \ No newline at end of file +DEV-f0601e27-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index a9ae05958..e234cf4d0 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_8227521165613923208) { - out_8227521165613923208[0] = delta_x[0] + nom_x[0]; - out_8227521165613923208[1] = delta_x[1] + nom_x[1]; - out_8227521165613923208[2] = delta_x[2] + nom_x[2]; - out_8227521165613923208[3] = delta_x[3] + nom_x[3]; - out_8227521165613923208[4] = delta_x[4] + nom_x[4]; - out_8227521165613923208[5] = delta_x[5] + nom_x[5]; - out_8227521165613923208[6] = delta_x[6] + nom_x[6]; - out_8227521165613923208[7] = delta_x[7] + nom_x[7]; - out_8227521165613923208[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2541993810890450617) { + out_2541993810890450617[0] = delta_x[0] + nom_x[0]; + out_2541993810890450617[1] = delta_x[1] + nom_x[1]; + out_2541993810890450617[2] = delta_x[2] + nom_x[2]; + out_2541993810890450617[3] = delta_x[3] + nom_x[3]; + out_2541993810890450617[4] = delta_x[4] + nom_x[4]; + out_2541993810890450617[5] = delta_x[5] + nom_x[5]; + out_2541993810890450617[6] = delta_x[6] + nom_x[6]; + out_2541993810890450617[7] = delta_x[7] + nom_x[7]; + out_2541993810890450617[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5130787649833322574) { - out_5130787649833322574[0] = -nom_x[0] + true_x[0]; - out_5130787649833322574[1] = -nom_x[1] + true_x[1]; - out_5130787649833322574[2] = -nom_x[2] + true_x[2]; - out_5130787649833322574[3] = -nom_x[3] + true_x[3]; - out_5130787649833322574[4] = -nom_x[4] + true_x[4]; - out_5130787649833322574[5] = -nom_x[5] + true_x[5]; - out_5130787649833322574[6] = -nom_x[6] + true_x[6]; - out_5130787649833322574[7] = -nom_x[7] + true_x[7]; - out_5130787649833322574[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414) { + out_4007732744251149414[0] = -nom_x[0] + true_x[0]; + out_4007732744251149414[1] = -nom_x[1] + true_x[1]; + out_4007732744251149414[2] = -nom_x[2] + true_x[2]; + out_4007732744251149414[3] = -nom_x[3] + true_x[3]; + out_4007732744251149414[4] = -nom_x[4] + true_x[4]; + out_4007732744251149414[5] = -nom_x[5] + true_x[5]; + out_4007732744251149414[6] = -nom_x[6] + true_x[6]; + out_4007732744251149414[7] = -nom_x[7] + true_x[7]; + out_4007732744251149414[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_7022051272719162928) { - out_7022051272719162928[0] = 1.0; - out_7022051272719162928[1] = 0.0; - out_7022051272719162928[2] = 0.0; - out_7022051272719162928[3] = 0.0; - out_7022051272719162928[4] = 0.0; - out_7022051272719162928[5] = 0.0; - out_7022051272719162928[6] = 0.0; - out_7022051272719162928[7] = 0.0; - out_7022051272719162928[8] = 0.0; - out_7022051272719162928[9] = 0.0; - out_7022051272719162928[10] = 1.0; - out_7022051272719162928[11] = 0.0; - out_7022051272719162928[12] = 0.0; - out_7022051272719162928[13] = 0.0; - out_7022051272719162928[14] = 0.0; - out_7022051272719162928[15] = 0.0; - out_7022051272719162928[16] = 0.0; - out_7022051272719162928[17] = 0.0; - out_7022051272719162928[18] = 0.0; - out_7022051272719162928[19] = 0.0; - out_7022051272719162928[20] = 1.0; - out_7022051272719162928[21] = 0.0; - out_7022051272719162928[22] = 0.0; - out_7022051272719162928[23] = 0.0; - out_7022051272719162928[24] = 0.0; - out_7022051272719162928[25] = 0.0; - out_7022051272719162928[26] = 0.0; - out_7022051272719162928[27] = 0.0; - out_7022051272719162928[28] = 0.0; - out_7022051272719162928[29] = 0.0; - out_7022051272719162928[30] = 1.0; - out_7022051272719162928[31] = 0.0; - out_7022051272719162928[32] = 0.0; - out_7022051272719162928[33] = 0.0; - out_7022051272719162928[34] = 0.0; - out_7022051272719162928[35] = 0.0; - out_7022051272719162928[36] = 0.0; - out_7022051272719162928[37] = 0.0; - out_7022051272719162928[38] = 0.0; - out_7022051272719162928[39] = 0.0; - out_7022051272719162928[40] = 1.0; - out_7022051272719162928[41] = 0.0; - out_7022051272719162928[42] = 0.0; - out_7022051272719162928[43] = 0.0; - out_7022051272719162928[44] = 0.0; - out_7022051272719162928[45] = 0.0; - out_7022051272719162928[46] = 0.0; - out_7022051272719162928[47] = 0.0; - out_7022051272719162928[48] = 0.0; - out_7022051272719162928[49] = 0.0; - out_7022051272719162928[50] = 1.0; - out_7022051272719162928[51] = 0.0; - out_7022051272719162928[52] = 0.0; - out_7022051272719162928[53] = 0.0; - out_7022051272719162928[54] = 0.0; - out_7022051272719162928[55] = 0.0; - out_7022051272719162928[56] = 0.0; - out_7022051272719162928[57] = 0.0; - out_7022051272719162928[58] = 0.0; - out_7022051272719162928[59] = 0.0; - out_7022051272719162928[60] = 1.0; - out_7022051272719162928[61] = 0.0; - out_7022051272719162928[62] = 0.0; - out_7022051272719162928[63] = 0.0; - out_7022051272719162928[64] = 0.0; - out_7022051272719162928[65] = 0.0; - out_7022051272719162928[66] = 0.0; - out_7022051272719162928[67] = 0.0; - out_7022051272719162928[68] = 0.0; - out_7022051272719162928[69] = 0.0; - out_7022051272719162928[70] = 1.0; - out_7022051272719162928[71] = 0.0; - out_7022051272719162928[72] = 0.0; - out_7022051272719162928[73] = 0.0; - out_7022051272719162928[74] = 0.0; - out_7022051272719162928[75] = 0.0; - out_7022051272719162928[76] = 0.0; - out_7022051272719162928[77] = 0.0; - out_7022051272719162928[78] = 0.0; - out_7022051272719162928[79] = 0.0; - out_7022051272719162928[80] = 1.0; +void H_mod_fun(double *state, double *out_6685865118100003284) { + out_6685865118100003284[0] = 1.0; + out_6685865118100003284[1] = 0.0; + out_6685865118100003284[2] = 0.0; + out_6685865118100003284[3] = 0.0; + out_6685865118100003284[4] = 0.0; + out_6685865118100003284[5] = 0.0; + out_6685865118100003284[6] = 0.0; + out_6685865118100003284[7] = 0.0; + out_6685865118100003284[8] = 0.0; + out_6685865118100003284[9] = 0.0; + out_6685865118100003284[10] = 1.0; + out_6685865118100003284[11] = 0.0; + out_6685865118100003284[12] = 0.0; + out_6685865118100003284[13] = 0.0; + out_6685865118100003284[14] = 0.0; + out_6685865118100003284[15] = 0.0; + out_6685865118100003284[16] = 0.0; + out_6685865118100003284[17] = 0.0; + out_6685865118100003284[18] = 0.0; + out_6685865118100003284[19] = 0.0; + out_6685865118100003284[20] = 1.0; + out_6685865118100003284[21] = 0.0; + out_6685865118100003284[22] = 0.0; + out_6685865118100003284[23] = 0.0; + out_6685865118100003284[24] = 0.0; + out_6685865118100003284[25] = 0.0; + out_6685865118100003284[26] = 0.0; + out_6685865118100003284[27] = 0.0; + out_6685865118100003284[28] = 0.0; + out_6685865118100003284[29] = 0.0; + out_6685865118100003284[30] = 1.0; + out_6685865118100003284[31] = 0.0; + out_6685865118100003284[32] = 0.0; + out_6685865118100003284[33] = 0.0; + out_6685865118100003284[34] = 0.0; + out_6685865118100003284[35] = 0.0; + out_6685865118100003284[36] = 0.0; + out_6685865118100003284[37] = 0.0; + out_6685865118100003284[38] = 0.0; + out_6685865118100003284[39] = 0.0; + out_6685865118100003284[40] = 1.0; + out_6685865118100003284[41] = 0.0; + out_6685865118100003284[42] = 0.0; + out_6685865118100003284[43] = 0.0; + out_6685865118100003284[44] = 0.0; + out_6685865118100003284[45] = 0.0; + out_6685865118100003284[46] = 0.0; + out_6685865118100003284[47] = 0.0; + out_6685865118100003284[48] = 0.0; + out_6685865118100003284[49] = 0.0; + out_6685865118100003284[50] = 1.0; + out_6685865118100003284[51] = 0.0; + out_6685865118100003284[52] = 0.0; + out_6685865118100003284[53] = 0.0; + out_6685865118100003284[54] = 0.0; + out_6685865118100003284[55] = 0.0; + out_6685865118100003284[56] = 0.0; + out_6685865118100003284[57] = 0.0; + out_6685865118100003284[58] = 0.0; + out_6685865118100003284[59] = 0.0; + out_6685865118100003284[60] = 1.0; + out_6685865118100003284[61] = 0.0; + out_6685865118100003284[62] = 0.0; + out_6685865118100003284[63] = 0.0; + out_6685865118100003284[64] = 0.0; + out_6685865118100003284[65] = 0.0; + out_6685865118100003284[66] = 0.0; + out_6685865118100003284[67] = 0.0; + out_6685865118100003284[68] = 0.0; + out_6685865118100003284[69] = 0.0; + out_6685865118100003284[70] = 1.0; + out_6685865118100003284[71] = 0.0; + out_6685865118100003284[72] = 0.0; + out_6685865118100003284[73] = 0.0; + out_6685865118100003284[74] = 0.0; + out_6685865118100003284[75] = 0.0; + out_6685865118100003284[76] = 0.0; + out_6685865118100003284[77] = 0.0; + out_6685865118100003284[78] = 0.0; + out_6685865118100003284[79] = 0.0; + out_6685865118100003284[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2984704176532588452) { - out_2984704176532588452[0] = state[0]; - out_2984704176532588452[1] = state[1]; - out_2984704176532588452[2] = state[2]; - out_2984704176532588452[3] = state[3]; - out_2984704176532588452[4] = state[4]; - out_2984704176532588452[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_2984704176532588452[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_2984704176532588452[7] = state[7]; - out_2984704176532588452[8] = state[8]; +void f_fun(double *state, double dt, double *out_6974049569071864212) { + out_6974049569071864212[0] = state[0]; + out_6974049569071864212[1] = state[1]; + out_6974049569071864212[2] = state[2]; + out_6974049569071864212[3] = state[3]; + out_6974049569071864212[4] = state[4]; + out_6974049569071864212[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_6974049569071864212[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_6974049569071864212[7] = state[7]; + out_6974049569071864212[8] = state[8]; } -void F_fun(double *state, double dt, double *out_314948888837440074) { - out_314948888837440074[0] = 1; - out_314948888837440074[1] = 0; - out_314948888837440074[2] = 0; - out_314948888837440074[3] = 0; - out_314948888837440074[4] = 0; - out_314948888837440074[5] = 0; - out_314948888837440074[6] = 0; - out_314948888837440074[7] = 0; - out_314948888837440074[8] = 0; - out_314948888837440074[9] = 0; - out_314948888837440074[10] = 1; - out_314948888837440074[11] = 0; - out_314948888837440074[12] = 0; - out_314948888837440074[13] = 0; - out_314948888837440074[14] = 0; - out_314948888837440074[15] = 0; - out_314948888837440074[16] = 0; - out_314948888837440074[17] = 0; - out_314948888837440074[18] = 0; - out_314948888837440074[19] = 0; - out_314948888837440074[20] = 1; - out_314948888837440074[21] = 0; - out_314948888837440074[22] = 0; - out_314948888837440074[23] = 0; - out_314948888837440074[24] = 0; - out_314948888837440074[25] = 0; - out_314948888837440074[26] = 0; - out_314948888837440074[27] = 0; - out_314948888837440074[28] = 0; - out_314948888837440074[29] = 0; - out_314948888837440074[30] = 1; - out_314948888837440074[31] = 0; - out_314948888837440074[32] = 0; - out_314948888837440074[33] = 0; - out_314948888837440074[34] = 0; - out_314948888837440074[35] = 0; - out_314948888837440074[36] = 0; - out_314948888837440074[37] = 0; - out_314948888837440074[38] = 0; - out_314948888837440074[39] = 0; - out_314948888837440074[40] = 1; - out_314948888837440074[41] = 0; - out_314948888837440074[42] = 0; - out_314948888837440074[43] = 0; - out_314948888837440074[44] = 0; - out_314948888837440074[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_314948888837440074[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_314948888837440074[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_314948888837440074[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_314948888837440074[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_314948888837440074[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_314948888837440074[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_314948888837440074[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_314948888837440074[53] = -9.8100000000000005*dt; - out_314948888837440074[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_314948888837440074[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_314948888837440074[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_314948888837440074[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_314948888837440074[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_314948888837440074[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_314948888837440074[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_314948888837440074[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_314948888837440074[62] = 0; - out_314948888837440074[63] = 0; - out_314948888837440074[64] = 0; - out_314948888837440074[65] = 0; - out_314948888837440074[66] = 0; - out_314948888837440074[67] = 0; - out_314948888837440074[68] = 0; - out_314948888837440074[69] = 0; - out_314948888837440074[70] = 1; - out_314948888837440074[71] = 0; - out_314948888837440074[72] = 0; - out_314948888837440074[73] = 0; - out_314948888837440074[74] = 0; - out_314948888837440074[75] = 0; - out_314948888837440074[76] = 0; - out_314948888837440074[77] = 0; - out_314948888837440074[78] = 0; - out_314948888837440074[79] = 0; - out_314948888837440074[80] = 1; +void F_fun(double *state, double dt, double *out_7385013454295441423) { + out_7385013454295441423[0] = 1; + out_7385013454295441423[1] = 0; + out_7385013454295441423[2] = 0; + out_7385013454295441423[3] = 0; + out_7385013454295441423[4] = 0; + out_7385013454295441423[5] = 0; + out_7385013454295441423[6] = 0; + out_7385013454295441423[7] = 0; + out_7385013454295441423[8] = 0; + out_7385013454295441423[9] = 0; + out_7385013454295441423[10] = 1; + out_7385013454295441423[11] = 0; + out_7385013454295441423[12] = 0; + out_7385013454295441423[13] = 0; + out_7385013454295441423[14] = 0; + out_7385013454295441423[15] = 0; + out_7385013454295441423[16] = 0; + out_7385013454295441423[17] = 0; + out_7385013454295441423[18] = 0; + out_7385013454295441423[19] = 0; + out_7385013454295441423[20] = 1; + out_7385013454295441423[21] = 0; + out_7385013454295441423[22] = 0; + out_7385013454295441423[23] = 0; + out_7385013454295441423[24] = 0; + out_7385013454295441423[25] = 0; + out_7385013454295441423[26] = 0; + out_7385013454295441423[27] = 0; + out_7385013454295441423[28] = 0; + out_7385013454295441423[29] = 0; + out_7385013454295441423[30] = 1; + out_7385013454295441423[31] = 0; + out_7385013454295441423[32] = 0; + out_7385013454295441423[33] = 0; + out_7385013454295441423[34] = 0; + out_7385013454295441423[35] = 0; + out_7385013454295441423[36] = 0; + out_7385013454295441423[37] = 0; + out_7385013454295441423[38] = 0; + out_7385013454295441423[39] = 0; + out_7385013454295441423[40] = 1; + out_7385013454295441423[41] = 0; + out_7385013454295441423[42] = 0; + out_7385013454295441423[43] = 0; + out_7385013454295441423[44] = 0; + out_7385013454295441423[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_7385013454295441423[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7385013454295441423[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7385013454295441423[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7385013454295441423[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_7385013454295441423[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7385013454295441423[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7385013454295441423[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7385013454295441423[53] = -9.8100000000000005*dt; + out_7385013454295441423[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_7385013454295441423[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7385013454295441423[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7385013454295441423[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7385013454295441423[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_7385013454295441423[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7385013454295441423[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_7385013454295441423[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7385013454295441423[62] = 0; + out_7385013454295441423[63] = 0; + out_7385013454295441423[64] = 0; + out_7385013454295441423[65] = 0; + out_7385013454295441423[66] = 0; + out_7385013454295441423[67] = 0; + out_7385013454295441423[68] = 0; + out_7385013454295441423[69] = 0; + out_7385013454295441423[70] = 1; + out_7385013454295441423[71] = 0; + out_7385013454295441423[72] = 0; + out_7385013454295441423[73] = 0; + out_7385013454295441423[74] = 0; + out_7385013454295441423[75] = 0; + out_7385013454295441423[76] = 0; + out_7385013454295441423[77] = 0; + out_7385013454295441423[78] = 0; + out_7385013454295441423[79] = 0; + out_7385013454295441423[80] = 1; } -void h_25(double *state, double *unused, double *out_26482314378299030) { - out_26482314378299030[0] = state[6]; +void h_25(double *state, double *unused, double *out_8051554989951709251) { + out_8051554989951709251[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3499070622729671251) { - out_3499070622729671251[0] = 0; - out_3499070622729671251[1] = 0; - out_3499070622729671251[2] = 0; - out_3499070622729671251[3] = 0; - out_3499070622729671251[4] = 0; - out_3499070622729671251[5] = 0; - out_3499070622729671251[6] = 1; - out_3499070622729671251[7] = 0; - out_3499070622729671251[8] = 0; +void H_25(double *state, double *unused, double *out_2507323107812233953) { + out_2507323107812233953[0] = 0; + out_2507323107812233953[1] = 0; + out_2507323107812233953[2] = 0; + out_2507323107812233953[3] = 0; + out_2507323107812233953[4] = 0; + out_2507323107812233953[5] = 0; + out_2507323107812233953[6] = 1; + out_2507323107812233953[7] = 0; + out_2507323107812233953[8] = 0; } -void h_24(double *state, double *unused, double *out_7613998408709405751) { - out_7613998408709405751[0] = state[4]; - out_7613998408709405751[1] = state[5]; +void h_24(double *state, double *unused, double *out_3112249856335132889) { + out_3112249856335132889[0] = state[4]; + out_3112249856335132889[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1273362838750802689) { - out_1273362838750802689[0] = 0; - out_1273362838750802689[1] = 0; - out_1273362838750802689[2] = 0; - out_1273362838750802689[3] = 0; - out_1273362838750802689[4] = 1; - out_1273362838750802689[5] = 0; - out_1273362838750802689[6] = 0; - out_1273362838750802689[7] = 0; - out_1273362838750802689[8] = 0; - out_1273362838750802689[9] = 0; - out_1273362838750802689[10] = 0; - out_1273362838750802689[11] = 0; - out_1273362838750802689[12] = 0; - out_1273362838750802689[13] = 0; - out_1273362838750802689[14] = 1; - out_1273362838750802689[15] = 0; - out_1273362838750802689[16] = 0; - out_1273362838750802689[17] = 0; +void H_24(double *state, double *unused, double *out_4679972706817733519) { + out_4679972706817733519[0] = 0; + out_4679972706817733519[1] = 0; + out_4679972706817733519[2] = 0; + out_4679972706817733519[3] = 0; + out_4679972706817733519[4] = 1; + out_4679972706817733519[5] = 0; + out_4679972706817733519[6] = 0; + out_4679972706817733519[7] = 0; + out_4679972706817733519[8] = 0; + out_4679972706817733519[9] = 0; + out_4679972706817733519[10] = 0; + out_4679972706817733519[11] = 0; + out_4679972706817733519[12] = 0; + out_4679972706817733519[13] = 0; + out_4679972706817733519[14] = 1; + out_4679972706817733519[15] = 0; + out_4679972706817733519[16] = 0; + out_4679972706817733519[17] = 0; } -void h_30(double *state, double *unused, double *out_7907754965132348215) { - out_7907754965132348215[0] = state[4]; +void h_30(double *state, double *unused, double *out_432221354858015888) { + out_432221354858015888[0] = state[4]; } -void H_30(double *state, double *unused, double *out_3417619718761945504) { - out_3417619718761945504[0] = 0; - out_3417619718761945504[1] = 0; - out_3417619718761945504[2] = 0; - out_3417619718761945504[3] = 0; - out_3417619718761945504[4] = 1; - out_3417619718761945504[5] = 0; - out_3417619718761945504[6] = 0; - out_3417619718761945504[7] = 0; - out_3417619718761945504[8] = 0; +void H_30(double *state, double *unused, double *out_11009850695014674) { + out_11009850695014674[0] = 0; + out_11009850695014674[1] = 0; + out_11009850695014674[2] = 0; + out_11009850695014674[3] = 0; + out_11009850695014674[4] = 1; + out_11009850695014674[5] = 0; + out_11009850695014674[6] = 0; + out_11009850695014674[7] = 0; + out_11009850695014674[8] = 0; } -void h_26(double *state, double *unused, double *out_7304439080455870698) { - out_7304439080455870698[0] = state[7]; +void h_26(double *state, double *unused, double *out_8837878174502242541) { + out_8837878174502242541[0] = state[7]; } -void H_26(double *state, double *unused, double *out_2842216558619359347) { - out_2842216558619359347[0] = 0; - out_2842216558619359347[1] = 0; - out_2842216558619359347[2] = 0; - out_2842216558619359347[3] = 0; - out_2842216558619359347[4] = 0; - out_2842216558619359347[5] = 0; - out_2842216558619359347[6] = 0; - out_2842216558619359347[7] = 1; - out_2842216558619359347[8] = 0; +void H_26(double *state, double *unused, double *out_6248826426686290177) { + out_6248826426686290177[0] = 0; + out_6248826426686290177[1] = 0; + out_6248826426686290177[2] = 0; + out_6248826426686290177[3] = 0; + out_6248826426686290177[4] = 0; + out_6248826426686290177[5] = 0; + out_6248826426686290177[6] = 0; + out_6248826426686290177[7] = 1; + out_6248826426686290177[8] = 0; } -void h_27(double *state, double *unused, double *out_8106273622613022122) { - out_8106273622613022122[0] = state[3]; +void h_27(double *state, double *unused, double *out_5014768938507376566) { + out_5014768938507376566[0] = state[3]; } -void H_27(double *state, double *unused, double *out_1242856406961520593) { - out_1242856406961520593[0] = 0; - out_1242856406961520593[1] = 0; - out_1242856406961520593[2] = 0; - out_1242856406961520593[3] = 1; - out_1242856406961520593[4] = 0; - out_1242856406961520593[5] = 0; - out_1242856406961520593[6] = 0; - out_1242856406961520593[7] = 0; - out_1242856406961520593[8] = 0; +void H_27(double *state, double *unused, double *out_2234603921878957891) { + out_2234603921878957891[0] = 0; + out_2234603921878957891[1] = 0; + out_2234603921878957891[2] = 0; + out_2234603921878957891[3] = 1; + out_2234603921878957891[4] = 0; + out_2234603921878957891[5] = 0; + out_2234603921878957891[6] = 0; + out_2234603921878957891[7] = 0; + out_2234603921878957891[8] = 0; } -void h_29(double *state, double *unused, double *out_1742679644311206261) { - out_1742679644311206261[0] = state[1]; +void h_29(double *state, double *unused, double *out_5550702484448125865) { + out_5550702484448125865[0] = state[1]; } -void H_29(double *state, double *unused, double *out_3927851063076337688) { - out_3927851063076337688[0] = 0; - out_3927851063076337688[1] = 1; - out_3927851063076337688[2] = 0; - out_3927851063076337688[3] = 0; - out_3927851063076337688[4] = 0; - out_3927851063076337688[5] = 0; - out_3927851063076337688[6] = 0; - out_3927851063076337688[7] = 0; - out_3927851063076337688[8] = 0; +void H_29(double *state, double *unused, double *out_521241195009406858) { + out_521241195009406858[0] = 0; + out_521241195009406858[1] = 1; + out_521241195009406858[2] = 0; + out_521241195009406858[3] = 0; + out_521241195009406858[4] = 0; + out_521241195009406858[5] = 0; + out_521241195009406858[6] = 0; + out_521241195009406858[7] = 0; + out_521241195009406858[8] = 0; } -void h_28(double *state, double *unused, double *out_6626345518038675162) { - out_6626345518038675162[0] = state[0]; +void h_28(double *state, double *unused, double *out_8430301867541329405) { + out_8430301867541329405[0] = state[0]; } -void H_28(double *state, double *unused, double *out_1154547953993192886) { - out_1154547953993192886[0] = 1; - out_1154547953993192886[1] = 0; - out_1154547953993192886[2] = 0; - out_1154547953993192886[3] = 0; - out_1154547953993192886[4] = 0; - out_1154547953993192886[5] = 0; - out_1154547953993192886[6] = 0; - out_1154547953993192886[7] = 0; - out_1154547953993192886[8] = 0; +void H_28(double *state, double *unused, double *out_4561157822060123716) { + out_4561157822060123716[0] = 1; + out_4561157822060123716[1] = 0; + out_4561157822060123716[2] = 0; + out_4561157822060123716[3] = 0; + out_4561157822060123716[4] = 0; + out_4561157822060123716[5] = 0; + out_4561157822060123716[6] = 0; + out_4561157822060123716[7] = 0; + out_4561157822060123716[8] = 0; } -void h_31(double *state, double *unused, double *out_1477113707007182197) { - out_1477113707007182197[0] = state[8]; +void h_31(double *state, double *unused, double *out_3624353857407491429) { + out_3624353857407491429[0] = state[8]; } -void H_31(double *state, double *unused, double *out_3468424660852710823) { - out_3468424660852710823[0] = 0; - out_3468424660852710823[1] = 0; - out_3468424660852710823[2] = 0; - out_3468424660852710823[3] = 0; - out_3468424660852710823[4] = 0; - out_3468424660852710823[5] = 0; - out_3468424660852710823[6] = 0; - out_3468424660852710823[7] = 0; - out_3468424660852710823[8] = 1; +void H_31(double *state, double *unused, double *out_6875034528919641653) { + out_6875034528919641653[0] = 0; + out_6875034528919641653[1] = 0; + out_6875034528919641653[2] = 0; + out_6875034528919641653[3] = 0; + out_6875034528919641653[4] = 0; + out_6875034528919641653[5] = 0; + out_6875034528919641653[6] = 0; + out_6875034528919641653[7] = 0; + out_6875034528919641653[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_8227521165613923208) { - err_fun(nom_x, delta_x, out_8227521165613923208); +void car_err_fun(double *nom_x, double *delta_x, double *out_2541993810890450617) { + err_fun(nom_x, delta_x, out_2541993810890450617); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5130787649833322574) { - inv_err_fun(nom_x, true_x, out_5130787649833322574); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414) { + inv_err_fun(nom_x, true_x, out_4007732744251149414); } -void car_H_mod_fun(double *state, double *out_7022051272719162928) { - H_mod_fun(state, out_7022051272719162928); +void car_H_mod_fun(double *state, double *out_6685865118100003284) { + H_mod_fun(state, out_6685865118100003284); } -void car_f_fun(double *state, double dt, double *out_2984704176532588452) { - f_fun(state, dt, out_2984704176532588452); +void car_f_fun(double *state, double dt, double *out_6974049569071864212) { + f_fun(state, dt, out_6974049569071864212); } -void car_F_fun(double *state, double dt, double *out_314948888837440074) { - F_fun(state, dt, out_314948888837440074); +void car_F_fun(double *state, double dt, double *out_7385013454295441423) { + F_fun(state, dt, out_7385013454295441423); } -void car_h_25(double *state, double *unused, double *out_26482314378299030) { - h_25(state, unused, out_26482314378299030); +void car_h_25(double *state, double *unused, double *out_8051554989951709251) { + h_25(state, unused, out_8051554989951709251); } -void car_H_25(double *state, double *unused, double *out_3499070622729671251) { - H_25(state, unused, out_3499070622729671251); +void car_H_25(double *state, double *unused, double *out_2507323107812233953) { + H_25(state, unused, out_2507323107812233953); } -void car_h_24(double *state, double *unused, double *out_7613998408709405751) { - h_24(state, unused, out_7613998408709405751); +void car_h_24(double *state, double *unused, double *out_3112249856335132889) { + h_24(state, unused, out_3112249856335132889); } -void car_H_24(double *state, double *unused, double *out_1273362838750802689) { - H_24(state, unused, out_1273362838750802689); +void car_H_24(double *state, double *unused, double *out_4679972706817733519) { + H_24(state, unused, out_4679972706817733519); } -void car_h_30(double *state, double *unused, double *out_7907754965132348215) { - h_30(state, unused, out_7907754965132348215); +void car_h_30(double *state, double *unused, double *out_432221354858015888) { + h_30(state, unused, out_432221354858015888); } -void car_H_30(double *state, double *unused, double *out_3417619718761945504) { - H_30(state, unused, out_3417619718761945504); +void car_H_30(double *state, double *unused, double *out_11009850695014674) { + H_30(state, unused, out_11009850695014674); } -void car_h_26(double *state, double *unused, double *out_7304439080455870698) { - h_26(state, unused, out_7304439080455870698); +void car_h_26(double *state, double *unused, double *out_8837878174502242541) { + h_26(state, unused, out_8837878174502242541); } -void car_H_26(double *state, double *unused, double *out_2842216558619359347) { - H_26(state, unused, out_2842216558619359347); +void car_H_26(double *state, double *unused, double *out_6248826426686290177) { + H_26(state, unused, out_6248826426686290177); } -void car_h_27(double *state, double *unused, double *out_8106273622613022122) { - h_27(state, unused, out_8106273622613022122); +void car_h_27(double *state, double *unused, double *out_5014768938507376566) { + h_27(state, unused, out_5014768938507376566); } -void car_H_27(double *state, double *unused, double *out_1242856406961520593) { - H_27(state, unused, out_1242856406961520593); +void car_H_27(double *state, double *unused, double *out_2234603921878957891) { + H_27(state, unused, out_2234603921878957891); } -void car_h_29(double *state, double *unused, double *out_1742679644311206261) { - h_29(state, unused, out_1742679644311206261); +void car_h_29(double *state, double *unused, double *out_5550702484448125865) { + h_29(state, unused, out_5550702484448125865); } -void car_H_29(double *state, double *unused, double *out_3927851063076337688) { - H_29(state, unused, out_3927851063076337688); +void car_H_29(double *state, double *unused, double *out_521241195009406858) { + H_29(state, unused, out_521241195009406858); } -void car_h_28(double *state, double *unused, double *out_6626345518038675162) { - h_28(state, unused, out_6626345518038675162); +void car_h_28(double *state, double *unused, double *out_8430301867541329405) { + h_28(state, unused, out_8430301867541329405); } -void car_H_28(double *state, double *unused, double *out_1154547953993192886) { - H_28(state, unused, out_1154547953993192886); +void car_H_28(double *state, double *unused, double *out_4561157822060123716) { + H_28(state, unused, out_4561157822060123716); } -void car_h_31(double *state, double *unused, double *out_1477113707007182197) { - h_31(state, unused, out_1477113707007182197); +void car_h_31(double *state, double *unused, double *out_3624353857407491429) { + h_31(state, unused, out_3624353857407491429); } -void car_H_31(double *state, double *unused, double *out_3468424660852710823) { - H_31(state, unused, out_3468424660852710823); +void car_H_31(double *state, double *unused, double *out_6875034528919641653) { + H_31(state, unused, out_6875034528919641653); } 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 db87bbb94..53eb86fbe 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_8227521165613923208); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5130787649833322574); -void car_H_mod_fun(double *state, double *out_7022051272719162928); -void car_f_fun(double *state, double dt, double *out_2984704176532588452); -void car_F_fun(double *state, double dt, double *out_314948888837440074); -void car_h_25(double *state, double *unused, double *out_26482314378299030); -void car_H_25(double *state, double *unused, double *out_3499070622729671251); -void car_h_24(double *state, double *unused, double *out_7613998408709405751); -void car_H_24(double *state, double *unused, double *out_1273362838750802689); -void car_h_30(double *state, double *unused, double *out_7907754965132348215); -void car_H_30(double *state, double *unused, double *out_3417619718761945504); -void car_h_26(double *state, double *unused, double *out_7304439080455870698); -void car_H_26(double *state, double *unused, double *out_2842216558619359347); -void car_h_27(double *state, double *unused, double *out_8106273622613022122); -void car_H_27(double *state, double *unused, double *out_1242856406961520593); -void car_h_29(double *state, double *unused, double *out_1742679644311206261); -void car_H_29(double *state, double *unused, double *out_3927851063076337688); -void car_h_28(double *state, double *unused, double *out_6626345518038675162); -void car_H_28(double *state, double *unused, double *out_1154547953993192886); -void car_h_31(double *state, double *unused, double *out_1477113707007182197); -void car_H_31(double *state, double *unused, double *out_3468424660852710823); +void car_err_fun(double *nom_x, double *delta_x, double *out_2541993810890450617); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4007732744251149414); +void car_H_mod_fun(double *state, double *out_6685865118100003284); +void car_f_fun(double *state, double dt, double *out_6974049569071864212); +void car_F_fun(double *state, double dt, double *out_7385013454295441423); +void car_h_25(double *state, double *unused, double *out_8051554989951709251); +void car_H_25(double *state, double *unused, double *out_2507323107812233953); +void car_h_24(double *state, double *unused, double *out_3112249856335132889); +void car_H_24(double *state, double *unused, double *out_4679972706817733519); +void car_h_30(double *state, double *unused, double *out_432221354858015888); +void car_H_30(double *state, double *unused, double *out_11009850695014674); +void car_h_26(double *state, double *unused, double *out_8837878174502242541); +void car_H_26(double *state, double *unused, double *out_6248826426686290177); +void car_h_27(double *state, double *unused, double *out_5014768938507376566); +void car_H_27(double *state, double *unused, double *out_2234603921878957891); +void car_h_29(double *state, double *unused, double *out_5550702484448125865); +void car_H_29(double *state, double *unused, double *out_521241195009406858); +void car_h_28(double *state, double *unused, double *out_8430301867541329405); +void car_H_28(double *state, double *unused, double *out_4561157822060123716); +void car_h_31(double *state, double *unused, double *out_3624353857407491429); +void car_H_31(double *state, double *unused, double *out_6875034528919641653); 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 27b5d3139..3708ac1eb 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_2889016141520795461) { - out_2889016141520795461[0] = delta_x[0] + nom_x[0]; - out_2889016141520795461[1] = delta_x[1] + nom_x[1]; - out_2889016141520795461[2] = delta_x[2] + nom_x[2]; - out_2889016141520795461[3] = delta_x[3] + nom_x[3]; - out_2889016141520795461[4] = delta_x[4] + nom_x[4]; - out_2889016141520795461[5] = delta_x[5] + nom_x[5]; - out_2889016141520795461[6] = delta_x[6] + nom_x[6]; - out_2889016141520795461[7] = delta_x[7] + nom_x[7]; - out_2889016141520795461[8] = delta_x[8] + nom_x[8]; - out_2889016141520795461[9] = delta_x[9] + nom_x[9]; - out_2889016141520795461[10] = delta_x[10] + nom_x[10]; - out_2889016141520795461[11] = delta_x[11] + nom_x[11]; - out_2889016141520795461[12] = delta_x[12] + nom_x[12]; - out_2889016141520795461[13] = delta_x[13] + nom_x[13]; - out_2889016141520795461[14] = delta_x[14] + nom_x[14]; - out_2889016141520795461[15] = delta_x[15] + nom_x[15]; - out_2889016141520795461[16] = delta_x[16] + nom_x[16]; - out_2889016141520795461[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3370172615713873468) { + out_3370172615713873468[0] = delta_x[0] + nom_x[0]; + out_3370172615713873468[1] = delta_x[1] + nom_x[1]; + out_3370172615713873468[2] = delta_x[2] + nom_x[2]; + out_3370172615713873468[3] = delta_x[3] + nom_x[3]; + out_3370172615713873468[4] = delta_x[4] + nom_x[4]; + out_3370172615713873468[5] = delta_x[5] + nom_x[5]; + out_3370172615713873468[6] = delta_x[6] + nom_x[6]; + out_3370172615713873468[7] = delta_x[7] + nom_x[7]; + out_3370172615713873468[8] = delta_x[8] + nom_x[8]; + out_3370172615713873468[9] = delta_x[9] + nom_x[9]; + out_3370172615713873468[10] = delta_x[10] + nom_x[10]; + out_3370172615713873468[11] = delta_x[11] + nom_x[11]; + out_3370172615713873468[12] = delta_x[12] + nom_x[12]; + out_3370172615713873468[13] = delta_x[13] + nom_x[13]; + out_3370172615713873468[14] = delta_x[14] + nom_x[14]; + out_3370172615713873468[15] = delta_x[15] + nom_x[15]; + out_3370172615713873468[16] = delta_x[16] + nom_x[16]; + out_3370172615713873468[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_6586333085018065986) { - out_6586333085018065986[0] = -nom_x[0] + true_x[0]; - out_6586333085018065986[1] = -nom_x[1] + true_x[1]; - out_6586333085018065986[2] = -nom_x[2] + true_x[2]; - out_6586333085018065986[3] = -nom_x[3] + true_x[3]; - out_6586333085018065986[4] = -nom_x[4] + true_x[4]; - out_6586333085018065986[5] = -nom_x[5] + true_x[5]; - out_6586333085018065986[6] = -nom_x[6] + true_x[6]; - out_6586333085018065986[7] = -nom_x[7] + true_x[7]; - out_6586333085018065986[8] = -nom_x[8] + true_x[8]; - out_6586333085018065986[9] = -nom_x[9] + true_x[9]; - out_6586333085018065986[10] = -nom_x[10] + true_x[10]; - out_6586333085018065986[11] = -nom_x[11] + true_x[11]; - out_6586333085018065986[12] = -nom_x[12] + true_x[12]; - out_6586333085018065986[13] = -nom_x[13] + true_x[13]; - out_6586333085018065986[14] = -nom_x[14] + true_x[14]; - out_6586333085018065986[15] = -nom_x[15] + true_x[15]; - out_6586333085018065986[16] = -nom_x[16] + true_x[16]; - out_6586333085018065986[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3634672358247053874) { + out_3634672358247053874[0] = -nom_x[0] + true_x[0]; + out_3634672358247053874[1] = -nom_x[1] + true_x[1]; + out_3634672358247053874[2] = -nom_x[2] + true_x[2]; + out_3634672358247053874[3] = -nom_x[3] + true_x[3]; + out_3634672358247053874[4] = -nom_x[4] + true_x[4]; + out_3634672358247053874[5] = -nom_x[5] + true_x[5]; + out_3634672358247053874[6] = -nom_x[6] + true_x[6]; + out_3634672358247053874[7] = -nom_x[7] + true_x[7]; + out_3634672358247053874[8] = -nom_x[8] + true_x[8]; + out_3634672358247053874[9] = -nom_x[9] + true_x[9]; + out_3634672358247053874[10] = -nom_x[10] + true_x[10]; + out_3634672358247053874[11] = -nom_x[11] + true_x[11]; + out_3634672358247053874[12] = -nom_x[12] + true_x[12]; + out_3634672358247053874[13] = -nom_x[13] + true_x[13]; + out_3634672358247053874[14] = -nom_x[14] + true_x[14]; + out_3634672358247053874[15] = -nom_x[15] + true_x[15]; + out_3634672358247053874[16] = -nom_x[16] + true_x[16]; + out_3634672358247053874[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_6984305438091048706) { - out_6984305438091048706[0] = 1.0; - out_6984305438091048706[1] = 0.0; - out_6984305438091048706[2] = 0.0; - out_6984305438091048706[3] = 0.0; - out_6984305438091048706[4] = 0.0; - out_6984305438091048706[5] = 0.0; - out_6984305438091048706[6] = 0.0; - out_6984305438091048706[7] = 0.0; - out_6984305438091048706[8] = 0.0; - out_6984305438091048706[9] = 0.0; - out_6984305438091048706[10] = 0.0; - out_6984305438091048706[11] = 0.0; - out_6984305438091048706[12] = 0.0; - out_6984305438091048706[13] = 0.0; - out_6984305438091048706[14] = 0.0; - out_6984305438091048706[15] = 0.0; - out_6984305438091048706[16] = 0.0; - out_6984305438091048706[17] = 0.0; - out_6984305438091048706[18] = 0.0; - out_6984305438091048706[19] = 1.0; - out_6984305438091048706[20] = 0.0; - out_6984305438091048706[21] = 0.0; - out_6984305438091048706[22] = 0.0; - out_6984305438091048706[23] = 0.0; - out_6984305438091048706[24] = 0.0; - out_6984305438091048706[25] = 0.0; - out_6984305438091048706[26] = 0.0; - out_6984305438091048706[27] = 0.0; - out_6984305438091048706[28] = 0.0; - out_6984305438091048706[29] = 0.0; - out_6984305438091048706[30] = 0.0; - out_6984305438091048706[31] = 0.0; - out_6984305438091048706[32] = 0.0; - out_6984305438091048706[33] = 0.0; - out_6984305438091048706[34] = 0.0; - out_6984305438091048706[35] = 0.0; - out_6984305438091048706[36] = 0.0; - out_6984305438091048706[37] = 0.0; - out_6984305438091048706[38] = 1.0; - out_6984305438091048706[39] = 0.0; - out_6984305438091048706[40] = 0.0; - out_6984305438091048706[41] = 0.0; - out_6984305438091048706[42] = 0.0; - out_6984305438091048706[43] = 0.0; - out_6984305438091048706[44] = 0.0; - out_6984305438091048706[45] = 0.0; - out_6984305438091048706[46] = 0.0; - out_6984305438091048706[47] = 0.0; - out_6984305438091048706[48] = 0.0; - out_6984305438091048706[49] = 0.0; - out_6984305438091048706[50] = 0.0; - out_6984305438091048706[51] = 0.0; - out_6984305438091048706[52] = 0.0; - out_6984305438091048706[53] = 0.0; - out_6984305438091048706[54] = 0.0; - out_6984305438091048706[55] = 0.0; - out_6984305438091048706[56] = 0.0; - out_6984305438091048706[57] = 1.0; - out_6984305438091048706[58] = 0.0; - out_6984305438091048706[59] = 0.0; - out_6984305438091048706[60] = 0.0; - out_6984305438091048706[61] = 0.0; - out_6984305438091048706[62] = 0.0; - out_6984305438091048706[63] = 0.0; - out_6984305438091048706[64] = 0.0; - out_6984305438091048706[65] = 0.0; - out_6984305438091048706[66] = 0.0; - out_6984305438091048706[67] = 0.0; - out_6984305438091048706[68] = 0.0; - out_6984305438091048706[69] = 0.0; - out_6984305438091048706[70] = 0.0; - out_6984305438091048706[71] = 0.0; - out_6984305438091048706[72] = 0.0; - out_6984305438091048706[73] = 0.0; - out_6984305438091048706[74] = 0.0; - out_6984305438091048706[75] = 0.0; - out_6984305438091048706[76] = 1.0; - out_6984305438091048706[77] = 0.0; - out_6984305438091048706[78] = 0.0; - out_6984305438091048706[79] = 0.0; - out_6984305438091048706[80] = 0.0; - out_6984305438091048706[81] = 0.0; - out_6984305438091048706[82] = 0.0; - out_6984305438091048706[83] = 0.0; - out_6984305438091048706[84] = 0.0; - out_6984305438091048706[85] = 0.0; - out_6984305438091048706[86] = 0.0; - out_6984305438091048706[87] = 0.0; - out_6984305438091048706[88] = 0.0; - out_6984305438091048706[89] = 0.0; - out_6984305438091048706[90] = 0.0; - out_6984305438091048706[91] = 0.0; - out_6984305438091048706[92] = 0.0; - out_6984305438091048706[93] = 0.0; - out_6984305438091048706[94] = 0.0; - out_6984305438091048706[95] = 1.0; - out_6984305438091048706[96] = 0.0; - out_6984305438091048706[97] = 0.0; - out_6984305438091048706[98] = 0.0; - out_6984305438091048706[99] = 0.0; - out_6984305438091048706[100] = 0.0; - out_6984305438091048706[101] = 0.0; - out_6984305438091048706[102] = 0.0; - out_6984305438091048706[103] = 0.0; - out_6984305438091048706[104] = 0.0; - out_6984305438091048706[105] = 0.0; - out_6984305438091048706[106] = 0.0; - out_6984305438091048706[107] = 0.0; - out_6984305438091048706[108] = 0.0; - out_6984305438091048706[109] = 0.0; - out_6984305438091048706[110] = 0.0; - out_6984305438091048706[111] = 0.0; - out_6984305438091048706[112] = 0.0; - out_6984305438091048706[113] = 0.0; - out_6984305438091048706[114] = 1.0; - out_6984305438091048706[115] = 0.0; - out_6984305438091048706[116] = 0.0; - out_6984305438091048706[117] = 0.0; - out_6984305438091048706[118] = 0.0; - out_6984305438091048706[119] = 0.0; - out_6984305438091048706[120] = 0.0; - out_6984305438091048706[121] = 0.0; - out_6984305438091048706[122] = 0.0; - out_6984305438091048706[123] = 0.0; - out_6984305438091048706[124] = 0.0; - out_6984305438091048706[125] = 0.0; - out_6984305438091048706[126] = 0.0; - out_6984305438091048706[127] = 0.0; - out_6984305438091048706[128] = 0.0; - out_6984305438091048706[129] = 0.0; - out_6984305438091048706[130] = 0.0; - out_6984305438091048706[131] = 0.0; - out_6984305438091048706[132] = 0.0; - out_6984305438091048706[133] = 1.0; - out_6984305438091048706[134] = 0.0; - out_6984305438091048706[135] = 0.0; - out_6984305438091048706[136] = 0.0; - out_6984305438091048706[137] = 0.0; - out_6984305438091048706[138] = 0.0; - out_6984305438091048706[139] = 0.0; - out_6984305438091048706[140] = 0.0; - out_6984305438091048706[141] = 0.0; - out_6984305438091048706[142] = 0.0; - out_6984305438091048706[143] = 0.0; - out_6984305438091048706[144] = 0.0; - out_6984305438091048706[145] = 0.0; - out_6984305438091048706[146] = 0.0; - out_6984305438091048706[147] = 0.0; - out_6984305438091048706[148] = 0.0; - out_6984305438091048706[149] = 0.0; - out_6984305438091048706[150] = 0.0; - out_6984305438091048706[151] = 0.0; - out_6984305438091048706[152] = 1.0; - out_6984305438091048706[153] = 0.0; - out_6984305438091048706[154] = 0.0; - out_6984305438091048706[155] = 0.0; - out_6984305438091048706[156] = 0.0; - out_6984305438091048706[157] = 0.0; - out_6984305438091048706[158] = 0.0; - out_6984305438091048706[159] = 0.0; - out_6984305438091048706[160] = 0.0; - out_6984305438091048706[161] = 0.0; - out_6984305438091048706[162] = 0.0; - out_6984305438091048706[163] = 0.0; - out_6984305438091048706[164] = 0.0; - out_6984305438091048706[165] = 0.0; - out_6984305438091048706[166] = 0.0; - out_6984305438091048706[167] = 0.0; - out_6984305438091048706[168] = 0.0; - out_6984305438091048706[169] = 0.0; - out_6984305438091048706[170] = 0.0; - out_6984305438091048706[171] = 1.0; - out_6984305438091048706[172] = 0.0; - out_6984305438091048706[173] = 0.0; - out_6984305438091048706[174] = 0.0; - out_6984305438091048706[175] = 0.0; - out_6984305438091048706[176] = 0.0; - out_6984305438091048706[177] = 0.0; - out_6984305438091048706[178] = 0.0; - out_6984305438091048706[179] = 0.0; - out_6984305438091048706[180] = 0.0; - out_6984305438091048706[181] = 0.0; - out_6984305438091048706[182] = 0.0; - out_6984305438091048706[183] = 0.0; - out_6984305438091048706[184] = 0.0; - out_6984305438091048706[185] = 0.0; - out_6984305438091048706[186] = 0.0; - out_6984305438091048706[187] = 0.0; - out_6984305438091048706[188] = 0.0; - out_6984305438091048706[189] = 0.0; - out_6984305438091048706[190] = 1.0; - out_6984305438091048706[191] = 0.0; - out_6984305438091048706[192] = 0.0; - out_6984305438091048706[193] = 0.0; - out_6984305438091048706[194] = 0.0; - out_6984305438091048706[195] = 0.0; - out_6984305438091048706[196] = 0.0; - out_6984305438091048706[197] = 0.0; - out_6984305438091048706[198] = 0.0; - out_6984305438091048706[199] = 0.0; - out_6984305438091048706[200] = 0.0; - out_6984305438091048706[201] = 0.0; - out_6984305438091048706[202] = 0.0; - out_6984305438091048706[203] = 0.0; - out_6984305438091048706[204] = 0.0; - out_6984305438091048706[205] = 0.0; - out_6984305438091048706[206] = 0.0; - out_6984305438091048706[207] = 0.0; - out_6984305438091048706[208] = 0.0; - out_6984305438091048706[209] = 1.0; - out_6984305438091048706[210] = 0.0; - out_6984305438091048706[211] = 0.0; - out_6984305438091048706[212] = 0.0; - out_6984305438091048706[213] = 0.0; - out_6984305438091048706[214] = 0.0; - out_6984305438091048706[215] = 0.0; - out_6984305438091048706[216] = 0.0; - out_6984305438091048706[217] = 0.0; - out_6984305438091048706[218] = 0.0; - out_6984305438091048706[219] = 0.0; - out_6984305438091048706[220] = 0.0; - out_6984305438091048706[221] = 0.0; - out_6984305438091048706[222] = 0.0; - out_6984305438091048706[223] = 0.0; - out_6984305438091048706[224] = 0.0; - out_6984305438091048706[225] = 0.0; - out_6984305438091048706[226] = 0.0; - out_6984305438091048706[227] = 0.0; - out_6984305438091048706[228] = 1.0; - out_6984305438091048706[229] = 0.0; - out_6984305438091048706[230] = 0.0; - out_6984305438091048706[231] = 0.0; - out_6984305438091048706[232] = 0.0; - out_6984305438091048706[233] = 0.0; - out_6984305438091048706[234] = 0.0; - out_6984305438091048706[235] = 0.0; - out_6984305438091048706[236] = 0.0; - out_6984305438091048706[237] = 0.0; - out_6984305438091048706[238] = 0.0; - out_6984305438091048706[239] = 0.0; - out_6984305438091048706[240] = 0.0; - out_6984305438091048706[241] = 0.0; - out_6984305438091048706[242] = 0.0; - out_6984305438091048706[243] = 0.0; - out_6984305438091048706[244] = 0.0; - out_6984305438091048706[245] = 0.0; - out_6984305438091048706[246] = 0.0; - out_6984305438091048706[247] = 1.0; - out_6984305438091048706[248] = 0.0; - out_6984305438091048706[249] = 0.0; - out_6984305438091048706[250] = 0.0; - out_6984305438091048706[251] = 0.0; - out_6984305438091048706[252] = 0.0; - out_6984305438091048706[253] = 0.0; - out_6984305438091048706[254] = 0.0; - out_6984305438091048706[255] = 0.0; - out_6984305438091048706[256] = 0.0; - out_6984305438091048706[257] = 0.0; - out_6984305438091048706[258] = 0.0; - out_6984305438091048706[259] = 0.0; - out_6984305438091048706[260] = 0.0; - out_6984305438091048706[261] = 0.0; - out_6984305438091048706[262] = 0.0; - out_6984305438091048706[263] = 0.0; - out_6984305438091048706[264] = 0.0; - out_6984305438091048706[265] = 0.0; - out_6984305438091048706[266] = 1.0; - out_6984305438091048706[267] = 0.0; - out_6984305438091048706[268] = 0.0; - out_6984305438091048706[269] = 0.0; - out_6984305438091048706[270] = 0.0; - out_6984305438091048706[271] = 0.0; - out_6984305438091048706[272] = 0.0; - out_6984305438091048706[273] = 0.0; - out_6984305438091048706[274] = 0.0; - out_6984305438091048706[275] = 0.0; - out_6984305438091048706[276] = 0.0; - out_6984305438091048706[277] = 0.0; - out_6984305438091048706[278] = 0.0; - out_6984305438091048706[279] = 0.0; - out_6984305438091048706[280] = 0.0; - out_6984305438091048706[281] = 0.0; - out_6984305438091048706[282] = 0.0; - out_6984305438091048706[283] = 0.0; - out_6984305438091048706[284] = 0.0; - out_6984305438091048706[285] = 1.0; - out_6984305438091048706[286] = 0.0; - out_6984305438091048706[287] = 0.0; - out_6984305438091048706[288] = 0.0; - out_6984305438091048706[289] = 0.0; - out_6984305438091048706[290] = 0.0; - out_6984305438091048706[291] = 0.0; - out_6984305438091048706[292] = 0.0; - out_6984305438091048706[293] = 0.0; - out_6984305438091048706[294] = 0.0; - out_6984305438091048706[295] = 0.0; - out_6984305438091048706[296] = 0.0; - out_6984305438091048706[297] = 0.0; - out_6984305438091048706[298] = 0.0; - out_6984305438091048706[299] = 0.0; - out_6984305438091048706[300] = 0.0; - out_6984305438091048706[301] = 0.0; - out_6984305438091048706[302] = 0.0; - out_6984305438091048706[303] = 0.0; - out_6984305438091048706[304] = 1.0; - out_6984305438091048706[305] = 0.0; - out_6984305438091048706[306] = 0.0; - out_6984305438091048706[307] = 0.0; - out_6984305438091048706[308] = 0.0; - out_6984305438091048706[309] = 0.0; - out_6984305438091048706[310] = 0.0; - out_6984305438091048706[311] = 0.0; - out_6984305438091048706[312] = 0.0; - out_6984305438091048706[313] = 0.0; - out_6984305438091048706[314] = 0.0; - out_6984305438091048706[315] = 0.0; - out_6984305438091048706[316] = 0.0; - out_6984305438091048706[317] = 0.0; - out_6984305438091048706[318] = 0.0; - out_6984305438091048706[319] = 0.0; - out_6984305438091048706[320] = 0.0; - out_6984305438091048706[321] = 0.0; - out_6984305438091048706[322] = 0.0; - out_6984305438091048706[323] = 1.0; +void H_mod_fun(double *state, double *out_4326808709061064235) { + out_4326808709061064235[0] = 1.0; + out_4326808709061064235[1] = 0.0; + out_4326808709061064235[2] = 0.0; + out_4326808709061064235[3] = 0.0; + out_4326808709061064235[4] = 0.0; + out_4326808709061064235[5] = 0.0; + out_4326808709061064235[6] = 0.0; + out_4326808709061064235[7] = 0.0; + out_4326808709061064235[8] = 0.0; + out_4326808709061064235[9] = 0.0; + out_4326808709061064235[10] = 0.0; + out_4326808709061064235[11] = 0.0; + out_4326808709061064235[12] = 0.0; + out_4326808709061064235[13] = 0.0; + out_4326808709061064235[14] = 0.0; + out_4326808709061064235[15] = 0.0; + out_4326808709061064235[16] = 0.0; + out_4326808709061064235[17] = 0.0; + out_4326808709061064235[18] = 0.0; + out_4326808709061064235[19] = 1.0; + out_4326808709061064235[20] = 0.0; + out_4326808709061064235[21] = 0.0; + out_4326808709061064235[22] = 0.0; + out_4326808709061064235[23] = 0.0; + out_4326808709061064235[24] = 0.0; + out_4326808709061064235[25] = 0.0; + out_4326808709061064235[26] = 0.0; + out_4326808709061064235[27] = 0.0; + out_4326808709061064235[28] = 0.0; + out_4326808709061064235[29] = 0.0; + out_4326808709061064235[30] = 0.0; + out_4326808709061064235[31] = 0.0; + out_4326808709061064235[32] = 0.0; + out_4326808709061064235[33] = 0.0; + out_4326808709061064235[34] = 0.0; + out_4326808709061064235[35] = 0.0; + out_4326808709061064235[36] = 0.0; + out_4326808709061064235[37] = 0.0; + out_4326808709061064235[38] = 1.0; + out_4326808709061064235[39] = 0.0; + out_4326808709061064235[40] = 0.0; + out_4326808709061064235[41] = 0.0; + out_4326808709061064235[42] = 0.0; + out_4326808709061064235[43] = 0.0; + out_4326808709061064235[44] = 0.0; + out_4326808709061064235[45] = 0.0; + out_4326808709061064235[46] = 0.0; + out_4326808709061064235[47] = 0.0; + out_4326808709061064235[48] = 0.0; + out_4326808709061064235[49] = 0.0; + out_4326808709061064235[50] = 0.0; + out_4326808709061064235[51] = 0.0; + out_4326808709061064235[52] = 0.0; + out_4326808709061064235[53] = 0.0; + out_4326808709061064235[54] = 0.0; + out_4326808709061064235[55] = 0.0; + out_4326808709061064235[56] = 0.0; + out_4326808709061064235[57] = 1.0; + out_4326808709061064235[58] = 0.0; + out_4326808709061064235[59] = 0.0; + out_4326808709061064235[60] = 0.0; + out_4326808709061064235[61] = 0.0; + out_4326808709061064235[62] = 0.0; + out_4326808709061064235[63] = 0.0; + out_4326808709061064235[64] = 0.0; + out_4326808709061064235[65] = 0.0; + out_4326808709061064235[66] = 0.0; + out_4326808709061064235[67] = 0.0; + out_4326808709061064235[68] = 0.0; + out_4326808709061064235[69] = 0.0; + out_4326808709061064235[70] = 0.0; + out_4326808709061064235[71] = 0.0; + out_4326808709061064235[72] = 0.0; + out_4326808709061064235[73] = 0.0; + out_4326808709061064235[74] = 0.0; + out_4326808709061064235[75] = 0.0; + out_4326808709061064235[76] = 1.0; + out_4326808709061064235[77] = 0.0; + out_4326808709061064235[78] = 0.0; + out_4326808709061064235[79] = 0.0; + out_4326808709061064235[80] = 0.0; + out_4326808709061064235[81] = 0.0; + out_4326808709061064235[82] = 0.0; + out_4326808709061064235[83] = 0.0; + out_4326808709061064235[84] = 0.0; + out_4326808709061064235[85] = 0.0; + out_4326808709061064235[86] = 0.0; + out_4326808709061064235[87] = 0.0; + out_4326808709061064235[88] = 0.0; + out_4326808709061064235[89] = 0.0; + out_4326808709061064235[90] = 0.0; + out_4326808709061064235[91] = 0.0; + out_4326808709061064235[92] = 0.0; + out_4326808709061064235[93] = 0.0; + out_4326808709061064235[94] = 0.0; + out_4326808709061064235[95] = 1.0; + out_4326808709061064235[96] = 0.0; + out_4326808709061064235[97] = 0.0; + out_4326808709061064235[98] = 0.0; + out_4326808709061064235[99] = 0.0; + out_4326808709061064235[100] = 0.0; + out_4326808709061064235[101] = 0.0; + out_4326808709061064235[102] = 0.0; + out_4326808709061064235[103] = 0.0; + out_4326808709061064235[104] = 0.0; + out_4326808709061064235[105] = 0.0; + out_4326808709061064235[106] = 0.0; + out_4326808709061064235[107] = 0.0; + out_4326808709061064235[108] = 0.0; + out_4326808709061064235[109] = 0.0; + out_4326808709061064235[110] = 0.0; + out_4326808709061064235[111] = 0.0; + out_4326808709061064235[112] = 0.0; + out_4326808709061064235[113] = 0.0; + out_4326808709061064235[114] = 1.0; + out_4326808709061064235[115] = 0.0; + out_4326808709061064235[116] = 0.0; + out_4326808709061064235[117] = 0.0; + out_4326808709061064235[118] = 0.0; + out_4326808709061064235[119] = 0.0; + out_4326808709061064235[120] = 0.0; + out_4326808709061064235[121] = 0.0; + out_4326808709061064235[122] = 0.0; + out_4326808709061064235[123] = 0.0; + out_4326808709061064235[124] = 0.0; + out_4326808709061064235[125] = 0.0; + out_4326808709061064235[126] = 0.0; + out_4326808709061064235[127] = 0.0; + out_4326808709061064235[128] = 0.0; + out_4326808709061064235[129] = 0.0; + out_4326808709061064235[130] = 0.0; + out_4326808709061064235[131] = 0.0; + out_4326808709061064235[132] = 0.0; + out_4326808709061064235[133] = 1.0; + out_4326808709061064235[134] = 0.0; + out_4326808709061064235[135] = 0.0; + out_4326808709061064235[136] = 0.0; + out_4326808709061064235[137] = 0.0; + out_4326808709061064235[138] = 0.0; + out_4326808709061064235[139] = 0.0; + out_4326808709061064235[140] = 0.0; + out_4326808709061064235[141] = 0.0; + out_4326808709061064235[142] = 0.0; + out_4326808709061064235[143] = 0.0; + out_4326808709061064235[144] = 0.0; + out_4326808709061064235[145] = 0.0; + out_4326808709061064235[146] = 0.0; + out_4326808709061064235[147] = 0.0; + out_4326808709061064235[148] = 0.0; + out_4326808709061064235[149] = 0.0; + out_4326808709061064235[150] = 0.0; + out_4326808709061064235[151] = 0.0; + out_4326808709061064235[152] = 1.0; + out_4326808709061064235[153] = 0.0; + out_4326808709061064235[154] = 0.0; + out_4326808709061064235[155] = 0.0; + out_4326808709061064235[156] = 0.0; + out_4326808709061064235[157] = 0.0; + out_4326808709061064235[158] = 0.0; + out_4326808709061064235[159] = 0.0; + out_4326808709061064235[160] = 0.0; + out_4326808709061064235[161] = 0.0; + out_4326808709061064235[162] = 0.0; + out_4326808709061064235[163] = 0.0; + out_4326808709061064235[164] = 0.0; + out_4326808709061064235[165] = 0.0; + out_4326808709061064235[166] = 0.0; + out_4326808709061064235[167] = 0.0; + out_4326808709061064235[168] = 0.0; + out_4326808709061064235[169] = 0.0; + out_4326808709061064235[170] = 0.0; + out_4326808709061064235[171] = 1.0; + out_4326808709061064235[172] = 0.0; + out_4326808709061064235[173] = 0.0; + out_4326808709061064235[174] = 0.0; + out_4326808709061064235[175] = 0.0; + out_4326808709061064235[176] = 0.0; + out_4326808709061064235[177] = 0.0; + out_4326808709061064235[178] = 0.0; + out_4326808709061064235[179] = 0.0; + out_4326808709061064235[180] = 0.0; + out_4326808709061064235[181] = 0.0; + out_4326808709061064235[182] = 0.0; + out_4326808709061064235[183] = 0.0; + out_4326808709061064235[184] = 0.0; + out_4326808709061064235[185] = 0.0; + out_4326808709061064235[186] = 0.0; + out_4326808709061064235[187] = 0.0; + out_4326808709061064235[188] = 0.0; + out_4326808709061064235[189] = 0.0; + out_4326808709061064235[190] = 1.0; + out_4326808709061064235[191] = 0.0; + out_4326808709061064235[192] = 0.0; + out_4326808709061064235[193] = 0.0; + out_4326808709061064235[194] = 0.0; + out_4326808709061064235[195] = 0.0; + out_4326808709061064235[196] = 0.0; + out_4326808709061064235[197] = 0.0; + out_4326808709061064235[198] = 0.0; + out_4326808709061064235[199] = 0.0; + out_4326808709061064235[200] = 0.0; + out_4326808709061064235[201] = 0.0; + out_4326808709061064235[202] = 0.0; + out_4326808709061064235[203] = 0.0; + out_4326808709061064235[204] = 0.0; + out_4326808709061064235[205] = 0.0; + out_4326808709061064235[206] = 0.0; + out_4326808709061064235[207] = 0.0; + out_4326808709061064235[208] = 0.0; + out_4326808709061064235[209] = 1.0; + out_4326808709061064235[210] = 0.0; + out_4326808709061064235[211] = 0.0; + out_4326808709061064235[212] = 0.0; + out_4326808709061064235[213] = 0.0; + out_4326808709061064235[214] = 0.0; + out_4326808709061064235[215] = 0.0; + out_4326808709061064235[216] = 0.0; + out_4326808709061064235[217] = 0.0; + out_4326808709061064235[218] = 0.0; + out_4326808709061064235[219] = 0.0; + out_4326808709061064235[220] = 0.0; + out_4326808709061064235[221] = 0.0; + out_4326808709061064235[222] = 0.0; + out_4326808709061064235[223] = 0.0; + out_4326808709061064235[224] = 0.0; + out_4326808709061064235[225] = 0.0; + out_4326808709061064235[226] = 0.0; + out_4326808709061064235[227] = 0.0; + out_4326808709061064235[228] = 1.0; + out_4326808709061064235[229] = 0.0; + out_4326808709061064235[230] = 0.0; + out_4326808709061064235[231] = 0.0; + out_4326808709061064235[232] = 0.0; + out_4326808709061064235[233] = 0.0; + out_4326808709061064235[234] = 0.0; + out_4326808709061064235[235] = 0.0; + out_4326808709061064235[236] = 0.0; + out_4326808709061064235[237] = 0.0; + out_4326808709061064235[238] = 0.0; + out_4326808709061064235[239] = 0.0; + out_4326808709061064235[240] = 0.0; + out_4326808709061064235[241] = 0.0; + out_4326808709061064235[242] = 0.0; + out_4326808709061064235[243] = 0.0; + out_4326808709061064235[244] = 0.0; + out_4326808709061064235[245] = 0.0; + out_4326808709061064235[246] = 0.0; + out_4326808709061064235[247] = 1.0; + out_4326808709061064235[248] = 0.0; + out_4326808709061064235[249] = 0.0; + out_4326808709061064235[250] = 0.0; + out_4326808709061064235[251] = 0.0; + out_4326808709061064235[252] = 0.0; + out_4326808709061064235[253] = 0.0; + out_4326808709061064235[254] = 0.0; + out_4326808709061064235[255] = 0.0; + out_4326808709061064235[256] = 0.0; + out_4326808709061064235[257] = 0.0; + out_4326808709061064235[258] = 0.0; + out_4326808709061064235[259] = 0.0; + out_4326808709061064235[260] = 0.0; + out_4326808709061064235[261] = 0.0; + out_4326808709061064235[262] = 0.0; + out_4326808709061064235[263] = 0.0; + out_4326808709061064235[264] = 0.0; + out_4326808709061064235[265] = 0.0; + out_4326808709061064235[266] = 1.0; + out_4326808709061064235[267] = 0.0; + out_4326808709061064235[268] = 0.0; + out_4326808709061064235[269] = 0.0; + out_4326808709061064235[270] = 0.0; + out_4326808709061064235[271] = 0.0; + out_4326808709061064235[272] = 0.0; + out_4326808709061064235[273] = 0.0; + out_4326808709061064235[274] = 0.0; + out_4326808709061064235[275] = 0.0; + out_4326808709061064235[276] = 0.0; + out_4326808709061064235[277] = 0.0; + out_4326808709061064235[278] = 0.0; + out_4326808709061064235[279] = 0.0; + out_4326808709061064235[280] = 0.0; + out_4326808709061064235[281] = 0.0; + out_4326808709061064235[282] = 0.0; + out_4326808709061064235[283] = 0.0; + out_4326808709061064235[284] = 0.0; + out_4326808709061064235[285] = 1.0; + out_4326808709061064235[286] = 0.0; + out_4326808709061064235[287] = 0.0; + out_4326808709061064235[288] = 0.0; + out_4326808709061064235[289] = 0.0; + out_4326808709061064235[290] = 0.0; + out_4326808709061064235[291] = 0.0; + out_4326808709061064235[292] = 0.0; + out_4326808709061064235[293] = 0.0; + out_4326808709061064235[294] = 0.0; + out_4326808709061064235[295] = 0.0; + out_4326808709061064235[296] = 0.0; + out_4326808709061064235[297] = 0.0; + out_4326808709061064235[298] = 0.0; + out_4326808709061064235[299] = 0.0; + out_4326808709061064235[300] = 0.0; + out_4326808709061064235[301] = 0.0; + out_4326808709061064235[302] = 0.0; + out_4326808709061064235[303] = 0.0; + out_4326808709061064235[304] = 1.0; + out_4326808709061064235[305] = 0.0; + out_4326808709061064235[306] = 0.0; + out_4326808709061064235[307] = 0.0; + out_4326808709061064235[308] = 0.0; + out_4326808709061064235[309] = 0.0; + out_4326808709061064235[310] = 0.0; + out_4326808709061064235[311] = 0.0; + out_4326808709061064235[312] = 0.0; + out_4326808709061064235[313] = 0.0; + out_4326808709061064235[314] = 0.0; + out_4326808709061064235[315] = 0.0; + out_4326808709061064235[316] = 0.0; + out_4326808709061064235[317] = 0.0; + out_4326808709061064235[318] = 0.0; + out_4326808709061064235[319] = 0.0; + out_4326808709061064235[320] = 0.0; + out_4326808709061064235[321] = 0.0; + out_4326808709061064235[322] = 0.0; + out_4326808709061064235[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4187862153732757636) { - out_4187862153732757636[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_4187862153732757636[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_4187862153732757636[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_4187862153732757636[3] = dt*state[12] + state[3]; - out_4187862153732757636[4] = dt*state[13] + state[4]; - out_4187862153732757636[5] = dt*state[14] + state[5]; - out_4187862153732757636[6] = state[6]; - out_4187862153732757636[7] = state[7]; - out_4187862153732757636[8] = state[8]; - out_4187862153732757636[9] = state[9]; - out_4187862153732757636[10] = state[10]; - out_4187862153732757636[11] = state[11]; - out_4187862153732757636[12] = state[12]; - out_4187862153732757636[13] = state[13]; - out_4187862153732757636[14] = state[14]; - out_4187862153732757636[15] = state[15]; - out_4187862153732757636[16] = state[16]; - out_4187862153732757636[17] = state[17]; +void f_fun(double *state, double dt, double *out_4276772873746558675) { + out_4276772873746558675[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_4276772873746558675[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_4276772873746558675[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_4276772873746558675[3] = dt*state[12] + state[3]; + out_4276772873746558675[4] = dt*state[13] + state[4]; + out_4276772873746558675[5] = dt*state[14] + state[5]; + out_4276772873746558675[6] = state[6]; + out_4276772873746558675[7] = state[7]; + out_4276772873746558675[8] = state[8]; + out_4276772873746558675[9] = state[9]; + out_4276772873746558675[10] = state[10]; + out_4276772873746558675[11] = state[11]; + out_4276772873746558675[12] = state[12]; + out_4276772873746558675[13] = state[13]; + out_4276772873746558675[14] = state[14]; + out_4276772873746558675[15] = state[15]; + out_4276772873746558675[16] = state[16]; + out_4276772873746558675[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7339590787986428927) { - out_7339590787986428927[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_7339590787986428927[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_7339590787986428927[2] = 0; - out_7339590787986428927[3] = 0; - out_7339590787986428927[4] = 0; - out_7339590787986428927[5] = 0; - out_7339590787986428927[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_7339590787986428927[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_7339590787986428927[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_7339590787986428927[9] = 0; - out_7339590787986428927[10] = 0; - out_7339590787986428927[11] = 0; - out_7339590787986428927[12] = 0; - out_7339590787986428927[13] = 0; - out_7339590787986428927[14] = 0; - out_7339590787986428927[15] = 0; - out_7339590787986428927[16] = 0; - out_7339590787986428927[17] = 0; - out_7339590787986428927[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_7339590787986428927[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_7339590787986428927[20] = 0; - out_7339590787986428927[21] = 0; - out_7339590787986428927[22] = 0; - out_7339590787986428927[23] = 0; - out_7339590787986428927[24] = 0; - out_7339590787986428927[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_7339590787986428927[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_7339590787986428927[27] = 0; - out_7339590787986428927[28] = 0; - out_7339590787986428927[29] = 0; - out_7339590787986428927[30] = 0; - out_7339590787986428927[31] = 0; - out_7339590787986428927[32] = 0; - out_7339590787986428927[33] = 0; - out_7339590787986428927[34] = 0; - out_7339590787986428927[35] = 0; - out_7339590787986428927[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_7339590787986428927[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_7339590787986428927[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_7339590787986428927[39] = 0; - out_7339590787986428927[40] = 0; - out_7339590787986428927[41] = 0; - out_7339590787986428927[42] = 0; - out_7339590787986428927[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_7339590787986428927[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_7339590787986428927[45] = 0; - out_7339590787986428927[46] = 0; - out_7339590787986428927[47] = 0; - out_7339590787986428927[48] = 0; - out_7339590787986428927[49] = 0; - out_7339590787986428927[50] = 0; - out_7339590787986428927[51] = 0; - out_7339590787986428927[52] = 0; - out_7339590787986428927[53] = 0; - out_7339590787986428927[54] = 0; - out_7339590787986428927[55] = 0; - out_7339590787986428927[56] = 0; - out_7339590787986428927[57] = 1; - out_7339590787986428927[58] = 0; - out_7339590787986428927[59] = 0; - out_7339590787986428927[60] = 0; - out_7339590787986428927[61] = 0; - out_7339590787986428927[62] = 0; - out_7339590787986428927[63] = 0; - out_7339590787986428927[64] = 0; - out_7339590787986428927[65] = 0; - out_7339590787986428927[66] = dt; - out_7339590787986428927[67] = 0; - out_7339590787986428927[68] = 0; - out_7339590787986428927[69] = 0; - out_7339590787986428927[70] = 0; - out_7339590787986428927[71] = 0; - out_7339590787986428927[72] = 0; - out_7339590787986428927[73] = 0; - out_7339590787986428927[74] = 0; - out_7339590787986428927[75] = 0; - out_7339590787986428927[76] = 1; - out_7339590787986428927[77] = 0; - out_7339590787986428927[78] = 0; - out_7339590787986428927[79] = 0; - out_7339590787986428927[80] = 0; - out_7339590787986428927[81] = 0; - out_7339590787986428927[82] = 0; - out_7339590787986428927[83] = 0; - out_7339590787986428927[84] = 0; - out_7339590787986428927[85] = dt; - out_7339590787986428927[86] = 0; - out_7339590787986428927[87] = 0; - out_7339590787986428927[88] = 0; - out_7339590787986428927[89] = 0; - out_7339590787986428927[90] = 0; - out_7339590787986428927[91] = 0; - out_7339590787986428927[92] = 0; - out_7339590787986428927[93] = 0; - out_7339590787986428927[94] = 0; - out_7339590787986428927[95] = 1; - out_7339590787986428927[96] = 0; - out_7339590787986428927[97] = 0; - out_7339590787986428927[98] = 0; - out_7339590787986428927[99] = 0; - out_7339590787986428927[100] = 0; - out_7339590787986428927[101] = 0; - out_7339590787986428927[102] = 0; - out_7339590787986428927[103] = 0; - out_7339590787986428927[104] = dt; - out_7339590787986428927[105] = 0; - out_7339590787986428927[106] = 0; - out_7339590787986428927[107] = 0; - out_7339590787986428927[108] = 0; - out_7339590787986428927[109] = 0; - out_7339590787986428927[110] = 0; - out_7339590787986428927[111] = 0; - out_7339590787986428927[112] = 0; - out_7339590787986428927[113] = 0; - out_7339590787986428927[114] = 1; - out_7339590787986428927[115] = 0; - out_7339590787986428927[116] = 0; - out_7339590787986428927[117] = 0; - out_7339590787986428927[118] = 0; - out_7339590787986428927[119] = 0; - out_7339590787986428927[120] = 0; - out_7339590787986428927[121] = 0; - out_7339590787986428927[122] = 0; - out_7339590787986428927[123] = 0; - out_7339590787986428927[124] = 0; - out_7339590787986428927[125] = 0; - out_7339590787986428927[126] = 0; - out_7339590787986428927[127] = 0; - out_7339590787986428927[128] = 0; - out_7339590787986428927[129] = 0; - out_7339590787986428927[130] = 0; - out_7339590787986428927[131] = 0; - out_7339590787986428927[132] = 0; - out_7339590787986428927[133] = 1; - out_7339590787986428927[134] = 0; - out_7339590787986428927[135] = 0; - out_7339590787986428927[136] = 0; - out_7339590787986428927[137] = 0; - out_7339590787986428927[138] = 0; - out_7339590787986428927[139] = 0; - out_7339590787986428927[140] = 0; - out_7339590787986428927[141] = 0; - out_7339590787986428927[142] = 0; - out_7339590787986428927[143] = 0; - out_7339590787986428927[144] = 0; - out_7339590787986428927[145] = 0; - out_7339590787986428927[146] = 0; - out_7339590787986428927[147] = 0; - out_7339590787986428927[148] = 0; - out_7339590787986428927[149] = 0; - out_7339590787986428927[150] = 0; - out_7339590787986428927[151] = 0; - out_7339590787986428927[152] = 1; - out_7339590787986428927[153] = 0; - out_7339590787986428927[154] = 0; - out_7339590787986428927[155] = 0; - out_7339590787986428927[156] = 0; - out_7339590787986428927[157] = 0; - out_7339590787986428927[158] = 0; - out_7339590787986428927[159] = 0; - out_7339590787986428927[160] = 0; - out_7339590787986428927[161] = 0; - out_7339590787986428927[162] = 0; - out_7339590787986428927[163] = 0; - out_7339590787986428927[164] = 0; - out_7339590787986428927[165] = 0; - out_7339590787986428927[166] = 0; - out_7339590787986428927[167] = 0; - out_7339590787986428927[168] = 0; - out_7339590787986428927[169] = 0; - out_7339590787986428927[170] = 0; - out_7339590787986428927[171] = 1; - out_7339590787986428927[172] = 0; - out_7339590787986428927[173] = 0; - out_7339590787986428927[174] = 0; - out_7339590787986428927[175] = 0; - out_7339590787986428927[176] = 0; - out_7339590787986428927[177] = 0; - out_7339590787986428927[178] = 0; - out_7339590787986428927[179] = 0; - out_7339590787986428927[180] = 0; - out_7339590787986428927[181] = 0; - out_7339590787986428927[182] = 0; - out_7339590787986428927[183] = 0; - out_7339590787986428927[184] = 0; - out_7339590787986428927[185] = 0; - out_7339590787986428927[186] = 0; - out_7339590787986428927[187] = 0; - out_7339590787986428927[188] = 0; - out_7339590787986428927[189] = 0; - out_7339590787986428927[190] = 1; - out_7339590787986428927[191] = 0; - out_7339590787986428927[192] = 0; - out_7339590787986428927[193] = 0; - out_7339590787986428927[194] = 0; - out_7339590787986428927[195] = 0; - out_7339590787986428927[196] = 0; - out_7339590787986428927[197] = 0; - out_7339590787986428927[198] = 0; - out_7339590787986428927[199] = 0; - out_7339590787986428927[200] = 0; - out_7339590787986428927[201] = 0; - out_7339590787986428927[202] = 0; - out_7339590787986428927[203] = 0; - out_7339590787986428927[204] = 0; - out_7339590787986428927[205] = 0; - out_7339590787986428927[206] = 0; - out_7339590787986428927[207] = 0; - out_7339590787986428927[208] = 0; - out_7339590787986428927[209] = 1; - out_7339590787986428927[210] = 0; - out_7339590787986428927[211] = 0; - out_7339590787986428927[212] = 0; - out_7339590787986428927[213] = 0; - out_7339590787986428927[214] = 0; - out_7339590787986428927[215] = 0; - out_7339590787986428927[216] = 0; - out_7339590787986428927[217] = 0; - out_7339590787986428927[218] = 0; - out_7339590787986428927[219] = 0; - out_7339590787986428927[220] = 0; - out_7339590787986428927[221] = 0; - out_7339590787986428927[222] = 0; - out_7339590787986428927[223] = 0; - out_7339590787986428927[224] = 0; - out_7339590787986428927[225] = 0; - out_7339590787986428927[226] = 0; - out_7339590787986428927[227] = 0; - out_7339590787986428927[228] = 1; - out_7339590787986428927[229] = 0; - out_7339590787986428927[230] = 0; - out_7339590787986428927[231] = 0; - out_7339590787986428927[232] = 0; - out_7339590787986428927[233] = 0; - out_7339590787986428927[234] = 0; - out_7339590787986428927[235] = 0; - out_7339590787986428927[236] = 0; - out_7339590787986428927[237] = 0; - out_7339590787986428927[238] = 0; - out_7339590787986428927[239] = 0; - out_7339590787986428927[240] = 0; - out_7339590787986428927[241] = 0; - out_7339590787986428927[242] = 0; - out_7339590787986428927[243] = 0; - out_7339590787986428927[244] = 0; - out_7339590787986428927[245] = 0; - out_7339590787986428927[246] = 0; - out_7339590787986428927[247] = 1; - out_7339590787986428927[248] = 0; - out_7339590787986428927[249] = 0; - out_7339590787986428927[250] = 0; - out_7339590787986428927[251] = 0; - out_7339590787986428927[252] = 0; - out_7339590787986428927[253] = 0; - out_7339590787986428927[254] = 0; - out_7339590787986428927[255] = 0; - out_7339590787986428927[256] = 0; - out_7339590787986428927[257] = 0; - out_7339590787986428927[258] = 0; - out_7339590787986428927[259] = 0; - out_7339590787986428927[260] = 0; - out_7339590787986428927[261] = 0; - out_7339590787986428927[262] = 0; - out_7339590787986428927[263] = 0; - out_7339590787986428927[264] = 0; - out_7339590787986428927[265] = 0; - out_7339590787986428927[266] = 1; - out_7339590787986428927[267] = 0; - out_7339590787986428927[268] = 0; - out_7339590787986428927[269] = 0; - out_7339590787986428927[270] = 0; - out_7339590787986428927[271] = 0; - out_7339590787986428927[272] = 0; - out_7339590787986428927[273] = 0; - out_7339590787986428927[274] = 0; - out_7339590787986428927[275] = 0; - out_7339590787986428927[276] = 0; - out_7339590787986428927[277] = 0; - out_7339590787986428927[278] = 0; - out_7339590787986428927[279] = 0; - out_7339590787986428927[280] = 0; - out_7339590787986428927[281] = 0; - out_7339590787986428927[282] = 0; - out_7339590787986428927[283] = 0; - out_7339590787986428927[284] = 0; - out_7339590787986428927[285] = 1; - out_7339590787986428927[286] = 0; - out_7339590787986428927[287] = 0; - out_7339590787986428927[288] = 0; - out_7339590787986428927[289] = 0; - out_7339590787986428927[290] = 0; - out_7339590787986428927[291] = 0; - out_7339590787986428927[292] = 0; - out_7339590787986428927[293] = 0; - out_7339590787986428927[294] = 0; - out_7339590787986428927[295] = 0; - out_7339590787986428927[296] = 0; - out_7339590787986428927[297] = 0; - out_7339590787986428927[298] = 0; - out_7339590787986428927[299] = 0; - out_7339590787986428927[300] = 0; - out_7339590787986428927[301] = 0; - out_7339590787986428927[302] = 0; - out_7339590787986428927[303] = 0; - out_7339590787986428927[304] = 1; - out_7339590787986428927[305] = 0; - out_7339590787986428927[306] = 0; - out_7339590787986428927[307] = 0; - out_7339590787986428927[308] = 0; - out_7339590787986428927[309] = 0; - out_7339590787986428927[310] = 0; - out_7339590787986428927[311] = 0; - out_7339590787986428927[312] = 0; - out_7339590787986428927[313] = 0; - out_7339590787986428927[314] = 0; - out_7339590787986428927[315] = 0; - out_7339590787986428927[316] = 0; - out_7339590787986428927[317] = 0; - out_7339590787986428927[318] = 0; - out_7339590787986428927[319] = 0; - out_7339590787986428927[320] = 0; - out_7339590787986428927[321] = 0; - out_7339590787986428927[322] = 0; - out_7339590787986428927[323] = 1; +void F_fun(double *state, double dt, double *out_4500717382901464499) { + out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[2] = 0; + out_4500717382901464499[3] = 0; + out_4500717382901464499[4] = 0; + out_4500717382901464499[5] = 0; + out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[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_4500717382901464499[9] = 0; + out_4500717382901464499[10] = 0; + out_4500717382901464499[11] = 0; + out_4500717382901464499[12] = 0; + out_4500717382901464499[13] = 0; + out_4500717382901464499[14] = 0; + out_4500717382901464499[15] = 0; + out_4500717382901464499[16] = 0; + out_4500717382901464499[17] = 0; + out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[20] = 0; + out_4500717382901464499[21] = 0; + out_4500717382901464499[22] = 0; + out_4500717382901464499[23] = 0; + out_4500717382901464499[24] = 0; + out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[27] = 0; + out_4500717382901464499[28] = 0; + out_4500717382901464499[29] = 0; + out_4500717382901464499[30] = 0; + out_4500717382901464499[31] = 0; + out_4500717382901464499[32] = 0; + out_4500717382901464499[33] = 0; + out_4500717382901464499[34] = 0; + out_4500717382901464499[35] = 0; + out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[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_4500717382901464499[39] = 0; + out_4500717382901464499[40] = 0; + out_4500717382901464499[41] = 0; + out_4500717382901464499[42] = 0; + out_4500717382901464499[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_4500717382901464499[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_4500717382901464499[45] = 0; + out_4500717382901464499[46] = 0; + out_4500717382901464499[47] = 0; + out_4500717382901464499[48] = 0; + out_4500717382901464499[49] = 0; + out_4500717382901464499[50] = 0; + out_4500717382901464499[51] = 0; + out_4500717382901464499[52] = 0; + out_4500717382901464499[53] = 0; + out_4500717382901464499[54] = 0; + out_4500717382901464499[55] = 0; + out_4500717382901464499[56] = 0; + out_4500717382901464499[57] = 1; + out_4500717382901464499[58] = 0; + out_4500717382901464499[59] = 0; + out_4500717382901464499[60] = 0; + out_4500717382901464499[61] = 0; + out_4500717382901464499[62] = 0; + out_4500717382901464499[63] = 0; + out_4500717382901464499[64] = 0; + out_4500717382901464499[65] = 0; + out_4500717382901464499[66] = dt; + out_4500717382901464499[67] = 0; + out_4500717382901464499[68] = 0; + out_4500717382901464499[69] = 0; + out_4500717382901464499[70] = 0; + out_4500717382901464499[71] = 0; + out_4500717382901464499[72] = 0; + out_4500717382901464499[73] = 0; + out_4500717382901464499[74] = 0; + out_4500717382901464499[75] = 0; + out_4500717382901464499[76] = 1; + out_4500717382901464499[77] = 0; + out_4500717382901464499[78] = 0; + out_4500717382901464499[79] = 0; + out_4500717382901464499[80] = 0; + out_4500717382901464499[81] = 0; + out_4500717382901464499[82] = 0; + out_4500717382901464499[83] = 0; + out_4500717382901464499[84] = 0; + out_4500717382901464499[85] = dt; + out_4500717382901464499[86] = 0; + out_4500717382901464499[87] = 0; + out_4500717382901464499[88] = 0; + out_4500717382901464499[89] = 0; + out_4500717382901464499[90] = 0; + out_4500717382901464499[91] = 0; + out_4500717382901464499[92] = 0; + out_4500717382901464499[93] = 0; + out_4500717382901464499[94] = 0; + out_4500717382901464499[95] = 1; + out_4500717382901464499[96] = 0; + out_4500717382901464499[97] = 0; + out_4500717382901464499[98] = 0; + out_4500717382901464499[99] = 0; + out_4500717382901464499[100] = 0; + out_4500717382901464499[101] = 0; + out_4500717382901464499[102] = 0; + out_4500717382901464499[103] = 0; + out_4500717382901464499[104] = dt; + out_4500717382901464499[105] = 0; + out_4500717382901464499[106] = 0; + out_4500717382901464499[107] = 0; + out_4500717382901464499[108] = 0; + out_4500717382901464499[109] = 0; + out_4500717382901464499[110] = 0; + out_4500717382901464499[111] = 0; + out_4500717382901464499[112] = 0; + out_4500717382901464499[113] = 0; + out_4500717382901464499[114] = 1; + out_4500717382901464499[115] = 0; + out_4500717382901464499[116] = 0; + out_4500717382901464499[117] = 0; + out_4500717382901464499[118] = 0; + out_4500717382901464499[119] = 0; + out_4500717382901464499[120] = 0; + out_4500717382901464499[121] = 0; + out_4500717382901464499[122] = 0; + out_4500717382901464499[123] = 0; + out_4500717382901464499[124] = 0; + out_4500717382901464499[125] = 0; + out_4500717382901464499[126] = 0; + out_4500717382901464499[127] = 0; + out_4500717382901464499[128] = 0; + out_4500717382901464499[129] = 0; + out_4500717382901464499[130] = 0; + out_4500717382901464499[131] = 0; + out_4500717382901464499[132] = 0; + out_4500717382901464499[133] = 1; + out_4500717382901464499[134] = 0; + out_4500717382901464499[135] = 0; + out_4500717382901464499[136] = 0; + out_4500717382901464499[137] = 0; + out_4500717382901464499[138] = 0; + out_4500717382901464499[139] = 0; + out_4500717382901464499[140] = 0; + out_4500717382901464499[141] = 0; + out_4500717382901464499[142] = 0; + out_4500717382901464499[143] = 0; + out_4500717382901464499[144] = 0; + out_4500717382901464499[145] = 0; + out_4500717382901464499[146] = 0; + out_4500717382901464499[147] = 0; + out_4500717382901464499[148] = 0; + out_4500717382901464499[149] = 0; + out_4500717382901464499[150] = 0; + out_4500717382901464499[151] = 0; + out_4500717382901464499[152] = 1; + out_4500717382901464499[153] = 0; + out_4500717382901464499[154] = 0; + out_4500717382901464499[155] = 0; + out_4500717382901464499[156] = 0; + out_4500717382901464499[157] = 0; + out_4500717382901464499[158] = 0; + out_4500717382901464499[159] = 0; + out_4500717382901464499[160] = 0; + out_4500717382901464499[161] = 0; + out_4500717382901464499[162] = 0; + out_4500717382901464499[163] = 0; + out_4500717382901464499[164] = 0; + out_4500717382901464499[165] = 0; + out_4500717382901464499[166] = 0; + out_4500717382901464499[167] = 0; + out_4500717382901464499[168] = 0; + out_4500717382901464499[169] = 0; + out_4500717382901464499[170] = 0; + out_4500717382901464499[171] = 1; + out_4500717382901464499[172] = 0; + out_4500717382901464499[173] = 0; + out_4500717382901464499[174] = 0; + out_4500717382901464499[175] = 0; + out_4500717382901464499[176] = 0; + out_4500717382901464499[177] = 0; + out_4500717382901464499[178] = 0; + out_4500717382901464499[179] = 0; + out_4500717382901464499[180] = 0; + out_4500717382901464499[181] = 0; + out_4500717382901464499[182] = 0; + out_4500717382901464499[183] = 0; + out_4500717382901464499[184] = 0; + out_4500717382901464499[185] = 0; + out_4500717382901464499[186] = 0; + out_4500717382901464499[187] = 0; + out_4500717382901464499[188] = 0; + out_4500717382901464499[189] = 0; + out_4500717382901464499[190] = 1; + out_4500717382901464499[191] = 0; + out_4500717382901464499[192] = 0; + out_4500717382901464499[193] = 0; + out_4500717382901464499[194] = 0; + out_4500717382901464499[195] = 0; + out_4500717382901464499[196] = 0; + out_4500717382901464499[197] = 0; + out_4500717382901464499[198] = 0; + out_4500717382901464499[199] = 0; + out_4500717382901464499[200] = 0; + out_4500717382901464499[201] = 0; + out_4500717382901464499[202] = 0; + out_4500717382901464499[203] = 0; + out_4500717382901464499[204] = 0; + out_4500717382901464499[205] = 0; + out_4500717382901464499[206] = 0; + out_4500717382901464499[207] = 0; + out_4500717382901464499[208] = 0; + out_4500717382901464499[209] = 1; + out_4500717382901464499[210] = 0; + out_4500717382901464499[211] = 0; + out_4500717382901464499[212] = 0; + out_4500717382901464499[213] = 0; + out_4500717382901464499[214] = 0; + out_4500717382901464499[215] = 0; + out_4500717382901464499[216] = 0; + out_4500717382901464499[217] = 0; + out_4500717382901464499[218] = 0; + out_4500717382901464499[219] = 0; + out_4500717382901464499[220] = 0; + out_4500717382901464499[221] = 0; + out_4500717382901464499[222] = 0; + out_4500717382901464499[223] = 0; + out_4500717382901464499[224] = 0; + out_4500717382901464499[225] = 0; + out_4500717382901464499[226] = 0; + out_4500717382901464499[227] = 0; + out_4500717382901464499[228] = 1; + out_4500717382901464499[229] = 0; + out_4500717382901464499[230] = 0; + out_4500717382901464499[231] = 0; + out_4500717382901464499[232] = 0; + out_4500717382901464499[233] = 0; + out_4500717382901464499[234] = 0; + out_4500717382901464499[235] = 0; + out_4500717382901464499[236] = 0; + out_4500717382901464499[237] = 0; + out_4500717382901464499[238] = 0; + out_4500717382901464499[239] = 0; + out_4500717382901464499[240] = 0; + out_4500717382901464499[241] = 0; + out_4500717382901464499[242] = 0; + out_4500717382901464499[243] = 0; + out_4500717382901464499[244] = 0; + out_4500717382901464499[245] = 0; + out_4500717382901464499[246] = 0; + out_4500717382901464499[247] = 1; + out_4500717382901464499[248] = 0; + out_4500717382901464499[249] = 0; + out_4500717382901464499[250] = 0; + out_4500717382901464499[251] = 0; + out_4500717382901464499[252] = 0; + out_4500717382901464499[253] = 0; + out_4500717382901464499[254] = 0; + out_4500717382901464499[255] = 0; + out_4500717382901464499[256] = 0; + out_4500717382901464499[257] = 0; + out_4500717382901464499[258] = 0; + out_4500717382901464499[259] = 0; + out_4500717382901464499[260] = 0; + out_4500717382901464499[261] = 0; + out_4500717382901464499[262] = 0; + out_4500717382901464499[263] = 0; + out_4500717382901464499[264] = 0; + out_4500717382901464499[265] = 0; + out_4500717382901464499[266] = 1; + out_4500717382901464499[267] = 0; + out_4500717382901464499[268] = 0; + out_4500717382901464499[269] = 0; + out_4500717382901464499[270] = 0; + out_4500717382901464499[271] = 0; + out_4500717382901464499[272] = 0; + out_4500717382901464499[273] = 0; + out_4500717382901464499[274] = 0; + out_4500717382901464499[275] = 0; + out_4500717382901464499[276] = 0; + out_4500717382901464499[277] = 0; + out_4500717382901464499[278] = 0; + out_4500717382901464499[279] = 0; + out_4500717382901464499[280] = 0; + out_4500717382901464499[281] = 0; + out_4500717382901464499[282] = 0; + out_4500717382901464499[283] = 0; + out_4500717382901464499[284] = 0; + out_4500717382901464499[285] = 1; + out_4500717382901464499[286] = 0; + out_4500717382901464499[287] = 0; + out_4500717382901464499[288] = 0; + out_4500717382901464499[289] = 0; + out_4500717382901464499[290] = 0; + out_4500717382901464499[291] = 0; + out_4500717382901464499[292] = 0; + out_4500717382901464499[293] = 0; + out_4500717382901464499[294] = 0; + out_4500717382901464499[295] = 0; + out_4500717382901464499[296] = 0; + out_4500717382901464499[297] = 0; + out_4500717382901464499[298] = 0; + out_4500717382901464499[299] = 0; + out_4500717382901464499[300] = 0; + out_4500717382901464499[301] = 0; + out_4500717382901464499[302] = 0; + out_4500717382901464499[303] = 0; + out_4500717382901464499[304] = 1; + out_4500717382901464499[305] = 0; + out_4500717382901464499[306] = 0; + out_4500717382901464499[307] = 0; + out_4500717382901464499[308] = 0; + out_4500717382901464499[309] = 0; + out_4500717382901464499[310] = 0; + out_4500717382901464499[311] = 0; + out_4500717382901464499[312] = 0; + out_4500717382901464499[313] = 0; + out_4500717382901464499[314] = 0; + out_4500717382901464499[315] = 0; + out_4500717382901464499[316] = 0; + out_4500717382901464499[317] = 0; + out_4500717382901464499[318] = 0; + out_4500717382901464499[319] = 0; + out_4500717382901464499[320] = 0; + out_4500717382901464499[321] = 0; + out_4500717382901464499[322] = 0; + out_4500717382901464499[323] = 1; } -void h_4(double *state, double *unused, double *out_8608741357917418213) { - out_8608741357917418213[0] = state[6] + state[9]; - out_8608741357917418213[1] = state[7] + state[10]; - out_8608741357917418213[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5593213153040418665) { + out_5593213153040418665[0] = state[6] + state[9]; + out_5593213153040418665[1] = state[7] + state[10]; + out_5593213153040418665[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8804004163997345567) { - out_8804004163997345567[0] = 0; - out_8804004163997345567[1] = 0; - out_8804004163997345567[2] = 0; - out_8804004163997345567[3] = 0; - out_8804004163997345567[4] = 0; - out_8804004163997345567[5] = 0; - out_8804004163997345567[6] = 1; - out_8804004163997345567[7] = 0; - out_8804004163997345567[8] = 0; - out_8804004163997345567[9] = 1; - out_8804004163997345567[10] = 0; - out_8804004163997345567[11] = 0; - out_8804004163997345567[12] = 0; - out_8804004163997345567[13] = 0; - out_8804004163997345567[14] = 0; - out_8804004163997345567[15] = 0; - out_8804004163997345567[16] = 0; - out_8804004163997345567[17] = 0; - out_8804004163997345567[18] = 0; - out_8804004163997345567[19] = 0; - out_8804004163997345567[20] = 0; - out_8804004163997345567[21] = 0; - out_8804004163997345567[22] = 0; - out_8804004163997345567[23] = 0; - out_8804004163997345567[24] = 0; - out_8804004163997345567[25] = 1; - out_8804004163997345567[26] = 0; - out_8804004163997345567[27] = 0; - out_8804004163997345567[28] = 1; - out_8804004163997345567[29] = 0; - out_8804004163997345567[30] = 0; - out_8804004163997345567[31] = 0; - out_8804004163997345567[32] = 0; - out_8804004163997345567[33] = 0; - out_8804004163997345567[34] = 0; - out_8804004163997345567[35] = 0; - out_8804004163997345567[36] = 0; - out_8804004163997345567[37] = 0; - out_8804004163997345567[38] = 0; - out_8804004163997345567[39] = 0; - out_8804004163997345567[40] = 0; - out_8804004163997345567[41] = 0; - out_8804004163997345567[42] = 0; - out_8804004163997345567[43] = 0; - out_8804004163997345567[44] = 1; - out_8804004163997345567[45] = 0; - out_8804004163997345567[46] = 0; - out_8804004163997345567[47] = 1; - out_8804004163997345567[48] = 0; - out_8804004163997345567[49] = 0; - out_8804004163997345567[50] = 0; - out_8804004163997345567[51] = 0; - out_8804004163997345567[52] = 0; - out_8804004163997345567[53] = 0; +void H_4(double *state, double *unused, double *out_8098615918904971807) { + out_8098615918904971807[0] = 0; + out_8098615918904971807[1] = 0; + out_8098615918904971807[2] = 0; + out_8098615918904971807[3] = 0; + out_8098615918904971807[4] = 0; + out_8098615918904971807[5] = 0; + out_8098615918904971807[6] = 1; + out_8098615918904971807[7] = 0; + out_8098615918904971807[8] = 0; + out_8098615918904971807[9] = 1; + out_8098615918904971807[10] = 0; + out_8098615918904971807[11] = 0; + out_8098615918904971807[12] = 0; + out_8098615918904971807[13] = 0; + out_8098615918904971807[14] = 0; + out_8098615918904971807[15] = 0; + out_8098615918904971807[16] = 0; + out_8098615918904971807[17] = 0; + out_8098615918904971807[18] = 0; + out_8098615918904971807[19] = 0; + out_8098615918904971807[20] = 0; + out_8098615918904971807[21] = 0; + out_8098615918904971807[22] = 0; + out_8098615918904971807[23] = 0; + out_8098615918904971807[24] = 0; + out_8098615918904971807[25] = 1; + out_8098615918904971807[26] = 0; + out_8098615918904971807[27] = 0; + out_8098615918904971807[28] = 1; + out_8098615918904971807[29] = 0; + out_8098615918904971807[30] = 0; + out_8098615918904971807[31] = 0; + out_8098615918904971807[32] = 0; + out_8098615918904971807[33] = 0; + out_8098615918904971807[34] = 0; + out_8098615918904971807[35] = 0; + out_8098615918904971807[36] = 0; + out_8098615918904971807[37] = 0; + out_8098615918904971807[38] = 0; + out_8098615918904971807[39] = 0; + out_8098615918904971807[40] = 0; + out_8098615918904971807[41] = 0; + out_8098615918904971807[42] = 0; + out_8098615918904971807[43] = 0; + out_8098615918904971807[44] = 1; + out_8098615918904971807[45] = 0; + out_8098615918904971807[46] = 0; + out_8098615918904971807[47] = 1; + out_8098615918904971807[48] = 0; + out_8098615918904971807[49] = 0; + out_8098615918904971807[50] = 0; + out_8098615918904971807[51] = 0; + out_8098615918904971807[52] = 0; + out_8098615918904971807[53] = 0; } -void h_10(double *state, double *unused, double *out_4067868698993544544) { - out_4067868698993544544[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4067868698993544544[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4067868698993544544[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_665779804057694470) { + out_665779804057694470[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_665779804057694470[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_665779804057694470[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_6538171315605639203) { - out_6538171315605639203[0] = 0; - out_6538171315605639203[1] = 9.8100000000000005*cos(state[1]); - out_6538171315605639203[2] = 0; - out_6538171315605639203[3] = 0; - out_6538171315605639203[4] = -state[8]; - out_6538171315605639203[5] = state[7]; - out_6538171315605639203[6] = 0; - out_6538171315605639203[7] = state[5]; - out_6538171315605639203[8] = -state[4]; - out_6538171315605639203[9] = 0; - out_6538171315605639203[10] = 0; - out_6538171315605639203[11] = 0; - out_6538171315605639203[12] = 1; - out_6538171315605639203[13] = 0; - out_6538171315605639203[14] = 0; - out_6538171315605639203[15] = 1; - out_6538171315605639203[16] = 0; - out_6538171315605639203[17] = 0; - out_6538171315605639203[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6538171315605639203[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6538171315605639203[20] = 0; - out_6538171315605639203[21] = state[8]; - out_6538171315605639203[22] = 0; - out_6538171315605639203[23] = -state[6]; - out_6538171315605639203[24] = -state[5]; - out_6538171315605639203[25] = 0; - out_6538171315605639203[26] = state[3]; - out_6538171315605639203[27] = 0; - out_6538171315605639203[28] = 0; - out_6538171315605639203[29] = 0; - out_6538171315605639203[30] = 0; - out_6538171315605639203[31] = 1; - out_6538171315605639203[32] = 0; - out_6538171315605639203[33] = 0; - out_6538171315605639203[34] = 1; - out_6538171315605639203[35] = 0; - out_6538171315605639203[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6538171315605639203[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6538171315605639203[38] = 0; - out_6538171315605639203[39] = -state[7]; - out_6538171315605639203[40] = state[6]; - out_6538171315605639203[41] = 0; - out_6538171315605639203[42] = state[4]; - out_6538171315605639203[43] = -state[3]; - out_6538171315605639203[44] = 0; - out_6538171315605639203[45] = 0; - out_6538171315605639203[46] = 0; - out_6538171315605639203[47] = 0; - out_6538171315605639203[48] = 0; - out_6538171315605639203[49] = 0; - out_6538171315605639203[50] = 1; - out_6538171315605639203[51] = 0; - out_6538171315605639203[52] = 0; - out_6538171315605639203[53] = 1; +void H_10(double *state, double *unused, double *out_1520950660944493368) { + out_1520950660944493368[0] = 0; + out_1520950660944493368[1] = 9.8100000000000005*cos(state[1]); + out_1520950660944493368[2] = 0; + out_1520950660944493368[3] = 0; + out_1520950660944493368[4] = -state[8]; + out_1520950660944493368[5] = state[7]; + out_1520950660944493368[6] = 0; + out_1520950660944493368[7] = state[5]; + out_1520950660944493368[8] = -state[4]; + out_1520950660944493368[9] = 0; + out_1520950660944493368[10] = 0; + out_1520950660944493368[11] = 0; + out_1520950660944493368[12] = 1; + out_1520950660944493368[13] = 0; + out_1520950660944493368[14] = 0; + out_1520950660944493368[15] = 1; + out_1520950660944493368[16] = 0; + out_1520950660944493368[17] = 0; + out_1520950660944493368[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1520950660944493368[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1520950660944493368[20] = 0; + out_1520950660944493368[21] = state[8]; + out_1520950660944493368[22] = 0; + out_1520950660944493368[23] = -state[6]; + out_1520950660944493368[24] = -state[5]; + out_1520950660944493368[25] = 0; + out_1520950660944493368[26] = state[3]; + out_1520950660944493368[27] = 0; + out_1520950660944493368[28] = 0; + out_1520950660944493368[29] = 0; + out_1520950660944493368[30] = 0; + out_1520950660944493368[31] = 1; + out_1520950660944493368[32] = 0; + out_1520950660944493368[33] = 0; + out_1520950660944493368[34] = 1; + out_1520950660944493368[35] = 0; + out_1520950660944493368[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1520950660944493368[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1520950660944493368[38] = 0; + out_1520950660944493368[39] = -state[7]; + out_1520950660944493368[40] = state[6]; + out_1520950660944493368[41] = 0; + out_1520950660944493368[42] = state[4]; + out_1520950660944493368[43] = -state[3]; + out_1520950660944493368[44] = 0; + out_1520950660944493368[45] = 0; + out_1520950660944493368[46] = 0; + out_1520950660944493368[47] = 0; + out_1520950660944493368[48] = 0; + out_1520950660944493368[49] = 0; + out_1520950660944493368[50] = 1; + out_1520950660944493368[51] = 0; + out_1520950660944493368[52] = 0; + out_1520950660944493368[53] = 1; } -void h_13(double *state, double *unused, double *out_1704356913043206317) { - out_1704356913043206317[0] = state[3]; - out_1704356913043206317[1] = state[4]; - out_1704356913043206317[2] = state[5]; +void h_13(double *state, double *unused, double *out_1559309075612614656) { + out_1559309075612614656[0] = state[3]; + out_1559309075612614656[1] = state[4]; + out_1559309075612614656[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5591730338665012766) { - out_5591730338665012766[0] = 0; - out_5591730338665012766[1] = 0; - out_5591730338665012766[2] = 0; - out_5591730338665012766[3] = 1; - out_5591730338665012766[4] = 0; - out_5591730338665012766[5] = 0; - out_5591730338665012766[6] = 0; - out_5591730338665012766[7] = 0; - out_5591730338665012766[8] = 0; - out_5591730338665012766[9] = 0; - out_5591730338665012766[10] = 0; - out_5591730338665012766[11] = 0; - out_5591730338665012766[12] = 0; - out_5591730338665012766[13] = 0; - out_5591730338665012766[14] = 0; - out_5591730338665012766[15] = 0; - out_5591730338665012766[16] = 0; - out_5591730338665012766[17] = 0; - out_5591730338665012766[18] = 0; - out_5591730338665012766[19] = 0; - out_5591730338665012766[20] = 0; - out_5591730338665012766[21] = 0; - out_5591730338665012766[22] = 1; - out_5591730338665012766[23] = 0; - out_5591730338665012766[24] = 0; - out_5591730338665012766[25] = 0; - out_5591730338665012766[26] = 0; - out_5591730338665012766[27] = 0; - out_5591730338665012766[28] = 0; - out_5591730338665012766[29] = 0; - out_5591730338665012766[30] = 0; - out_5591730338665012766[31] = 0; - out_5591730338665012766[32] = 0; - out_5591730338665012766[33] = 0; - out_5591730338665012766[34] = 0; - out_5591730338665012766[35] = 0; - out_5591730338665012766[36] = 0; - out_5591730338665012766[37] = 0; - out_5591730338665012766[38] = 0; - out_5591730338665012766[39] = 0; - out_5591730338665012766[40] = 0; - out_5591730338665012766[41] = 1; - out_5591730338665012766[42] = 0; - out_5591730338665012766[43] = 0; - out_5591730338665012766[44] = 0; - out_5591730338665012766[45] = 0; - out_5591730338665012766[46] = 0; - out_5591730338665012766[47] = 0; - out_5591730338665012766[48] = 0; - out_5591730338665012766[49] = 0; - out_5591730338665012766[50] = 0; - out_5591730338665012766[51] = 0; - out_5591730338665012766[52] = 0; - out_5591730338665012766[53] = 0; +void H_13(double *state, double *unused, double *out_8663217838586815911) { + out_8663217838586815911[0] = 0; + out_8663217838586815911[1] = 0; + out_8663217838586815911[2] = 0; + out_8663217838586815911[3] = 1; + out_8663217838586815911[4] = 0; + out_8663217838586815911[5] = 0; + out_8663217838586815911[6] = 0; + out_8663217838586815911[7] = 0; + out_8663217838586815911[8] = 0; + out_8663217838586815911[9] = 0; + out_8663217838586815911[10] = 0; + out_8663217838586815911[11] = 0; + out_8663217838586815911[12] = 0; + out_8663217838586815911[13] = 0; + out_8663217838586815911[14] = 0; + out_8663217838586815911[15] = 0; + out_8663217838586815911[16] = 0; + out_8663217838586815911[17] = 0; + out_8663217838586815911[18] = 0; + out_8663217838586815911[19] = 0; + out_8663217838586815911[20] = 0; + out_8663217838586815911[21] = 0; + out_8663217838586815911[22] = 1; + out_8663217838586815911[23] = 0; + out_8663217838586815911[24] = 0; + out_8663217838586815911[25] = 0; + out_8663217838586815911[26] = 0; + out_8663217838586815911[27] = 0; + out_8663217838586815911[28] = 0; + out_8663217838586815911[29] = 0; + out_8663217838586815911[30] = 0; + out_8663217838586815911[31] = 0; + out_8663217838586815911[32] = 0; + out_8663217838586815911[33] = 0; + out_8663217838586815911[34] = 0; + out_8663217838586815911[35] = 0; + out_8663217838586815911[36] = 0; + out_8663217838586815911[37] = 0; + out_8663217838586815911[38] = 0; + out_8663217838586815911[39] = 0; + out_8663217838586815911[40] = 0; + out_8663217838586815911[41] = 1; + out_8663217838586815911[42] = 0; + out_8663217838586815911[43] = 0; + out_8663217838586815911[44] = 0; + out_8663217838586815911[45] = 0; + out_8663217838586815911[46] = 0; + out_8663217838586815911[47] = 0; + out_8663217838586815911[48] = 0; + out_8663217838586815911[49] = 0; + out_8663217838586815911[50] = 0; + out_8663217838586815911[51] = 0; + out_8663217838586815911[52] = 0; + out_8663217838586815911[53] = 0; } -void h_14(double *state, double *unused, double *out_5410919187051701678) { - out_5410919187051701678[0] = state[6]; - out_5410919187051701678[1] = state[7]; - out_5410919187051701678[2] = state[8]; +void h_14(double *state, double *unused, double *out_3210315045012193153) { + out_3210315045012193153[0] = state[6]; + out_3210315045012193153[1] = state[7]; + out_3210315045012193153[2] = state[8]; } -void H_14(double *state, double *unused, double *out_4840763307657861038) { - out_4840763307657861038[0] = 0; - out_4840763307657861038[1] = 0; - out_4840763307657861038[2] = 0; - out_4840763307657861038[3] = 0; - out_4840763307657861038[4] = 0; - out_4840763307657861038[5] = 0; - out_4840763307657861038[6] = 1; - out_4840763307657861038[7] = 0; - out_4840763307657861038[8] = 0; - out_4840763307657861038[9] = 0; - out_4840763307657861038[10] = 0; - out_4840763307657861038[11] = 0; - out_4840763307657861038[12] = 0; - out_4840763307657861038[13] = 0; - out_4840763307657861038[14] = 0; - out_4840763307657861038[15] = 0; - out_4840763307657861038[16] = 0; - out_4840763307657861038[17] = 0; - out_4840763307657861038[18] = 0; - out_4840763307657861038[19] = 0; - out_4840763307657861038[20] = 0; - out_4840763307657861038[21] = 0; - out_4840763307657861038[22] = 0; - out_4840763307657861038[23] = 0; - out_4840763307657861038[24] = 0; - out_4840763307657861038[25] = 1; - out_4840763307657861038[26] = 0; - out_4840763307657861038[27] = 0; - out_4840763307657861038[28] = 0; - out_4840763307657861038[29] = 0; - out_4840763307657861038[30] = 0; - out_4840763307657861038[31] = 0; - out_4840763307657861038[32] = 0; - out_4840763307657861038[33] = 0; - out_4840763307657861038[34] = 0; - out_4840763307657861038[35] = 0; - out_4840763307657861038[36] = 0; - out_4840763307657861038[37] = 0; - out_4840763307657861038[38] = 0; - out_4840763307657861038[39] = 0; - out_4840763307657861038[40] = 0; - out_4840763307657861038[41] = 0; - out_4840763307657861038[42] = 0; - out_4840763307657861038[43] = 0; - out_4840763307657861038[44] = 1; - out_4840763307657861038[45] = 0; - out_4840763307657861038[46] = 0; - out_4840763307657861038[47] = 0; - out_4840763307657861038[48] = 0; - out_4840763307657861038[49] = 0; - out_4840763307657861038[50] = 0; - out_4840763307657861038[51] = 0; - out_4840763307657861038[52] = 0; - out_4840763307657861038[53] = 0; +void H_14(double *state, double *unused, double *out_5015827486609599511) { + out_5015827486609599511[0] = 0; + out_5015827486609599511[1] = 0; + out_5015827486609599511[2] = 0; + out_5015827486609599511[3] = 0; + out_5015827486609599511[4] = 0; + out_5015827486609599511[5] = 0; + out_5015827486609599511[6] = 1; + out_5015827486609599511[7] = 0; + out_5015827486609599511[8] = 0; + out_5015827486609599511[9] = 0; + out_5015827486609599511[10] = 0; + out_5015827486609599511[11] = 0; + out_5015827486609599511[12] = 0; + out_5015827486609599511[13] = 0; + out_5015827486609599511[14] = 0; + out_5015827486609599511[15] = 0; + out_5015827486609599511[16] = 0; + out_5015827486609599511[17] = 0; + out_5015827486609599511[18] = 0; + out_5015827486609599511[19] = 0; + out_5015827486609599511[20] = 0; + out_5015827486609599511[21] = 0; + out_5015827486609599511[22] = 0; + out_5015827486609599511[23] = 0; + out_5015827486609599511[24] = 0; + out_5015827486609599511[25] = 1; + out_5015827486609599511[26] = 0; + out_5015827486609599511[27] = 0; + out_5015827486609599511[28] = 0; + out_5015827486609599511[29] = 0; + out_5015827486609599511[30] = 0; + out_5015827486609599511[31] = 0; + out_5015827486609599511[32] = 0; + out_5015827486609599511[33] = 0; + out_5015827486609599511[34] = 0; + out_5015827486609599511[35] = 0; + out_5015827486609599511[36] = 0; + out_5015827486609599511[37] = 0; + out_5015827486609599511[38] = 0; + out_5015827486609599511[39] = 0; + out_5015827486609599511[40] = 0; + out_5015827486609599511[41] = 0; + out_5015827486609599511[42] = 0; + out_5015827486609599511[43] = 0; + out_5015827486609599511[44] = 1; + out_5015827486609599511[45] = 0; + out_5015827486609599511[46] = 0; + out_5015827486609599511[47] = 0; + out_5015827486609599511[48] = 0; + out_5015827486609599511[49] = 0; + out_5015827486609599511[50] = 0; + out_5015827486609599511[51] = 0; + out_5015827486609599511[52] = 0; + out_5015827486609599511[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_2889016141520795461) { - err_fun(nom_x, delta_x, out_2889016141520795461); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3370172615713873468) { + err_fun(nom_x, delta_x, out_3370172615713873468); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6586333085018065986) { - inv_err_fun(nom_x, true_x, out_6586333085018065986); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3634672358247053874) { + inv_err_fun(nom_x, true_x, out_3634672358247053874); } -void pose_H_mod_fun(double *state, double *out_6984305438091048706) { - H_mod_fun(state, out_6984305438091048706); +void pose_H_mod_fun(double *state, double *out_4326808709061064235) { + H_mod_fun(state, out_4326808709061064235); } -void pose_f_fun(double *state, double dt, double *out_4187862153732757636) { - f_fun(state, dt, out_4187862153732757636); +void pose_f_fun(double *state, double dt, double *out_4276772873746558675) { + f_fun(state, dt, out_4276772873746558675); } -void pose_F_fun(double *state, double dt, double *out_7339590787986428927) { - F_fun(state, dt, out_7339590787986428927); +void pose_F_fun(double *state, double dt, double *out_4500717382901464499) { + F_fun(state, dt, out_4500717382901464499); } -void pose_h_4(double *state, double *unused, double *out_8608741357917418213) { - h_4(state, unused, out_8608741357917418213); +void pose_h_4(double *state, double *unused, double *out_5593213153040418665) { + h_4(state, unused, out_5593213153040418665); } -void pose_H_4(double *state, double *unused, double *out_8804004163997345567) { - H_4(state, unused, out_8804004163997345567); +void pose_H_4(double *state, double *unused, double *out_8098615918904971807) { + H_4(state, unused, out_8098615918904971807); } -void pose_h_10(double *state, double *unused, double *out_4067868698993544544) { - h_10(state, unused, out_4067868698993544544); +void pose_h_10(double *state, double *unused, double *out_665779804057694470) { + h_10(state, unused, out_665779804057694470); } -void pose_H_10(double *state, double *unused, double *out_6538171315605639203) { - H_10(state, unused, out_6538171315605639203); +void pose_H_10(double *state, double *unused, double *out_1520950660944493368) { + H_10(state, unused, out_1520950660944493368); } -void pose_h_13(double *state, double *unused, double *out_1704356913043206317) { - h_13(state, unused, out_1704356913043206317); +void pose_h_13(double *state, double *unused, double *out_1559309075612614656) { + h_13(state, unused, out_1559309075612614656); } -void pose_H_13(double *state, double *unused, double *out_5591730338665012766) { - H_13(state, unused, out_5591730338665012766); +void pose_H_13(double *state, double *unused, double *out_8663217838586815911) { + H_13(state, unused, out_8663217838586815911); } -void pose_h_14(double *state, double *unused, double *out_5410919187051701678) { - h_14(state, unused, out_5410919187051701678); +void pose_h_14(double *state, double *unused, double *out_3210315045012193153) { + h_14(state, unused, out_3210315045012193153); } -void pose_H_14(double *state, double *unused, double *out_4840763307657861038) { - H_14(state, unused, out_4840763307657861038); +void pose_H_14(double *state, double *unused, double *out_5015827486609599511) { + H_14(state, unused, out_5015827486609599511); } 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 3b6f4c788..b64b80959 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_2889016141520795461); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6586333085018065986); -void pose_H_mod_fun(double *state, double *out_6984305438091048706); -void pose_f_fun(double *state, double dt, double *out_4187862153732757636); -void pose_F_fun(double *state, double dt, double *out_7339590787986428927); -void pose_h_4(double *state, double *unused, double *out_8608741357917418213); -void pose_H_4(double *state, double *unused, double *out_8804004163997345567); -void pose_h_10(double *state, double *unused, double *out_4067868698993544544); -void pose_H_10(double *state, double *unused, double *out_6538171315605639203); -void pose_h_13(double *state, double *unused, double *out_1704356913043206317); -void pose_H_13(double *state, double *unused, double *out_5591730338665012766); -void pose_h_14(double *state, double *unused, double *out_5410919187051701678); -void pose_H_14(double *state, double *unused, double *out_4840763307657861038); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3370172615713873468); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3634672358247053874); +void pose_H_mod_fun(double *state, double *out_4326808709061064235); +void pose_f_fun(double *state, double dt, double *out_4276772873746558675); +void pose_F_fun(double *state, double dt, double *out_4500717382901464499); +void pose_h_4(double *state, double *unused, double *out_5593213153040418665); +void pose_H_4(double *state, double *unused, double *out_8098615918904971807); +void pose_h_10(double *state, double *unused, double *out_665779804057694470); +void pose_H_10(double *state, double *unused, double *out_1520950660944493368); +void pose_h_13(double *state, double *unused, double *out_1559309075612614656); +void pose_H_13(double *state, double *unused, double *out_8663217838586815911); +void pose_h_14(double *state, double *unused, double *out_3210315045012193153); +void pose_H_14(double *state, double *unused, double *out_5015827486609599511); 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 19d89231b..aac72995f 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index ae83d3dab..447881dbc 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index a638d31f5..c476746f2 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 93ec906d8..fa9f03bcc 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 451e11ffc..4ef745884 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git 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