diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 77335d2d3..b8c3d1df8 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 30781c249..4531651ac 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 b89970271..168d43d94 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index d1518d493..5a0e68eb0 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index e9abbb299..9f40e113e 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index fe1a7ade4..e5d419561 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index fe1a7ade4..e5d419561 100755 Binary files a/panda/board/obj/bootstub.panda_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 0011f5ff2..c7cb64bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index 0011f5ff2..c7cb64bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index 0011f5ff2..c7cb64bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index 0011f5ff2..c7cb64bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 0011f5ff2..c7cb64bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 0011f5ff2..c7cb64bc8 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index fe1a7ade4..e5d419561 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index fe1a7ade4..e5d419561 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index e359caac2..9edac6832 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index fe1a7ade4..e5d419561 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index fe1a7ade4..e5d419561 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 9843eaae2..6388123c6 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-23b354d4-DEBUG"; +const uint8_t gitversion[19] = "DEV-12a984b2-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 450c3ac64..427930b43 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 9f4a14915..b69c1e5dc 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 9804dd1d7..09f989f0d 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 cd3ea41e2..7775d5836 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index 168c6ae7d..543dbf3eb 100644 Binary files a/panda/board/obj/panda_can_ignition_only.bin.signed and b/panda/board/obj/panda_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_can_ignition_only/bootstub.elf b/panda/board/obj/panda_can_ignition_only/bootstub.elf index 8de8cf7eb..ccb853073 100755 Binary files a/panda/board/obj/panda_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_can_ignition_only/main.bin b/panda/board/obj/panda_can_ignition_only/main.bin index 3d460684b..28e8c8401 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.bin and b/panda/board/obj/panda_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_can_ignition_only/main.elf b/panda/board/obj/panda_can_ignition_only/main.elf index ee392e218..cd224c5bb 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.elf and b/panda/board/obj/panda_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index add5e356f..b4c20c6c4 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index 2dda692ff..a8e0b6825 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index 6202078b4..a306725ac 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 4326ee62f..cfbae39f5 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_can_ignition_only.bin.signed index 6caa08dd0..4e3d51170 100644 Binary files a/panda/board/obj/panda_h7_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf index 2b42fdf9a..3e304eaaa 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.bin b/panda/board/obj/panda_h7_can_ignition_only/main.bin index 838febc2e..7c584a667 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.elf b/panda/board/obj/panda_h7_can_ignition_only/main.elf index 53c484006..335639f43 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote.bin.signed b/panda/board/obj/panda_h7_hkg_remote.bin.signed index daae984cd..c68a37b6b 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote.bin.signed and b/panda/board/obj/panda_h7_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf index 0cea5a2f9..b05ae50c2 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.bin b/panda/board/obj/panda_h7_hkg_remote/main.bin index 29239553c..cb824095b 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.bin and b/panda/board/obj/panda_h7_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.elf b/panda/board/obj/panda_h7_hkg_remote/main.elf index 82b0d5452..25943b562 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.elf and b/panda/board/obj/panda_h7_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed index 42e12d4ab..a3fb01fe7 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf index b1afc377c..2927616fa 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin index 05f52facb..51b3ce4c6 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf index cecf21de2..10a369a76 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index ebdcc4df8..ba0755189 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index 173d7fe0e..a4eec171d 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index fd5cea997..a368f68d2 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 092440a45..3bb4c5d69 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed index 7eb1ed97f..b741cc1a1 100644 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf index 72246cddb..b2cefad95 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin index 4056fcf9d..a8cc61ff8 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf index 464c6e09a..0408ddba5 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote.bin.signed b/panda/board/obj/panda_hkg_remote.bin.signed index ab2942fa5..f2e5cda78 100644 Binary files a/panda/board/obj/panda_hkg_remote.bin.signed and b/panda/board/obj/panda_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote/bootstub.elf b/panda/board/obj/panda_hkg_remote/bootstub.elf index e35c8bec2..20a5e3d5e 100755 Binary files a/panda/board/obj/panda_hkg_remote/bootstub.elf and b/panda/board/obj/panda_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote/main.bin b/panda/board/obj/panda_hkg_remote/main.bin index 70bce51fc..26bb027bb 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.bin and b/panda/board/obj/panda_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote/main.elf b/panda/board/obj/panda_hkg_remote/main.elf index 8d2607a96..cace79a53 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.elf and b/panda/board/obj/panda_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed index fbf441ace..5cbc4798a 100644 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf index 88a550a3a..d244f15d5 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin index d0aaddc10..3d1644379 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf index 0374356ad..655618528 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index aacb6942f..3ad862cfe 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index df3d8a955..eeb0afd78 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index afe87061d..e7a2a2b90 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 0ef108cea..b53d7e03c 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index ba27dc223..c23cfd185 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 604ce9ee5..e0e046567 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 1c80d470d..7967bcfdd 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 57a2afbf2..c91dc6084 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index 5e04b428a..f70f43caa 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 390203f5c..1a35f90d8 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index a230140f2..e7ac1f27a 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 7e9aabdf2..5746b5c90 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index a8449b7a2..617a8a5d9 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-23b354d4-DEBUG \ No newline at end of file +DEV-12a984b2-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 2b6cf7801..c6707b34c 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_92735882134146519) { - out_92735882134146519[0] = delta_x[0] + nom_x[0]; - out_92735882134146519[1] = delta_x[1] + nom_x[1]; - out_92735882134146519[2] = delta_x[2] + nom_x[2]; - out_92735882134146519[3] = delta_x[3] + nom_x[3]; - out_92735882134146519[4] = delta_x[4] + nom_x[4]; - out_92735882134146519[5] = delta_x[5] + nom_x[5]; - out_92735882134146519[6] = delta_x[6] + nom_x[6]; - out_92735882134146519[7] = delta_x[7] + nom_x[7]; - out_92735882134146519[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664) { + out_6125726627663246664[0] = delta_x[0] + nom_x[0]; + out_6125726627663246664[1] = delta_x[1] + nom_x[1]; + out_6125726627663246664[2] = delta_x[2] + nom_x[2]; + out_6125726627663246664[3] = delta_x[3] + nom_x[3]; + out_6125726627663246664[4] = delta_x[4] + nom_x[4]; + out_6125726627663246664[5] = delta_x[5] + nom_x[5]; + out_6125726627663246664[6] = delta_x[6] + nom_x[6]; + out_6125726627663246664[7] = delta_x[7] + nom_x[7]; + out_6125726627663246664[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787) { - out_3460935513230882787[0] = -nom_x[0] + true_x[0]; - out_3460935513230882787[1] = -nom_x[1] + true_x[1]; - out_3460935513230882787[2] = -nom_x[2] + true_x[2]; - out_3460935513230882787[3] = -nom_x[3] + true_x[3]; - out_3460935513230882787[4] = -nom_x[4] + true_x[4]; - out_3460935513230882787[5] = -nom_x[5] + true_x[5]; - out_3460935513230882787[6] = -nom_x[6] + true_x[6]; - out_3460935513230882787[7] = -nom_x[7] + true_x[7]; - out_3460935513230882787[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672) { + out_87606233557452672[0] = -nom_x[0] + true_x[0]; + out_87606233557452672[1] = -nom_x[1] + true_x[1]; + out_87606233557452672[2] = -nom_x[2] + true_x[2]; + out_87606233557452672[3] = -nom_x[3] + true_x[3]; + out_87606233557452672[4] = -nom_x[4] + true_x[4]; + out_87606233557452672[5] = -nom_x[5] + true_x[5]; + out_87606233557452672[6] = -nom_x[6] + true_x[6]; + out_87606233557452672[7] = -nom_x[7] + true_x[7]; + out_87606233557452672[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1422739628250006049) { - out_1422739628250006049[0] = 1.0; - out_1422739628250006049[1] = 0.0; - out_1422739628250006049[2] = 0.0; - out_1422739628250006049[3] = 0.0; - out_1422739628250006049[4] = 0.0; - out_1422739628250006049[5] = 0.0; - out_1422739628250006049[6] = 0.0; - out_1422739628250006049[7] = 0.0; - out_1422739628250006049[8] = 0.0; - out_1422739628250006049[9] = 0.0; - out_1422739628250006049[10] = 1.0; - out_1422739628250006049[11] = 0.0; - out_1422739628250006049[12] = 0.0; - out_1422739628250006049[13] = 0.0; - out_1422739628250006049[14] = 0.0; - out_1422739628250006049[15] = 0.0; - out_1422739628250006049[16] = 0.0; - out_1422739628250006049[17] = 0.0; - out_1422739628250006049[18] = 0.0; - out_1422739628250006049[19] = 0.0; - out_1422739628250006049[20] = 1.0; - out_1422739628250006049[21] = 0.0; - out_1422739628250006049[22] = 0.0; - out_1422739628250006049[23] = 0.0; - out_1422739628250006049[24] = 0.0; - out_1422739628250006049[25] = 0.0; - out_1422739628250006049[26] = 0.0; - out_1422739628250006049[27] = 0.0; - out_1422739628250006049[28] = 0.0; - out_1422739628250006049[29] = 0.0; - out_1422739628250006049[30] = 1.0; - out_1422739628250006049[31] = 0.0; - out_1422739628250006049[32] = 0.0; - out_1422739628250006049[33] = 0.0; - out_1422739628250006049[34] = 0.0; - out_1422739628250006049[35] = 0.0; - out_1422739628250006049[36] = 0.0; - out_1422739628250006049[37] = 0.0; - out_1422739628250006049[38] = 0.0; - out_1422739628250006049[39] = 0.0; - out_1422739628250006049[40] = 1.0; - out_1422739628250006049[41] = 0.0; - out_1422739628250006049[42] = 0.0; - out_1422739628250006049[43] = 0.0; - out_1422739628250006049[44] = 0.0; - out_1422739628250006049[45] = 0.0; - out_1422739628250006049[46] = 0.0; - out_1422739628250006049[47] = 0.0; - out_1422739628250006049[48] = 0.0; - out_1422739628250006049[49] = 0.0; - out_1422739628250006049[50] = 1.0; - out_1422739628250006049[51] = 0.0; - out_1422739628250006049[52] = 0.0; - out_1422739628250006049[53] = 0.0; - out_1422739628250006049[54] = 0.0; - out_1422739628250006049[55] = 0.0; - out_1422739628250006049[56] = 0.0; - out_1422739628250006049[57] = 0.0; - out_1422739628250006049[58] = 0.0; - out_1422739628250006049[59] = 0.0; - out_1422739628250006049[60] = 1.0; - out_1422739628250006049[61] = 0.0; - out_1422739628250006049[62] = 0.0; - out_1422739628250006049[63] = 0.0; - out_1422739628250006049[64] = 0.0; - out_1422739628250006049[65] = 0.0; - out_1422739628250006049[66] = 0.0; - out_1422739628250006049[67] = 0.0; - out_1422739628250006049[68] = 0.0; - out_1422739628250006049[69] = 0.0; - out_1422739628250006049[70] = 1.0; - out_1422739628250006049[71] = 0.0; - out_1422739628250006049[72] = 0.0; - out_1422739628250006049[73] = 0.0; - out_1422739628250006049[74] = 0.0; - out_1422739628250006049[75] = 0.0; - out_1422739628250006049[76] = 0.0; - out_1422739628250006049[77] = 0.0; - out_1422739628250006049[78] = 0.0; - out_1422739628250006049[79] = 0.0; - out_1422739628250006049[80] = 1.0; +void H_mod_fun(double *state, double *out_1571740516032572076) { + out_1571740516032572076[0] = 1.0; + out_1571740516032572076[1] = 0.0; + out_1571740516032572076[2] = 0.0; + out_1571740516032572076[3] = 0.0; + out_1571740516032572076[4] = 0.0; + out_1571740516032572076[5] = 0.0; + out_1571740516032572076[6] = 0.0; + out_1571740516032572076[7] = 0.0; + out_1571740516032572076[8] = 0.0; + out_1571740516032572076[9] = 0.0; + out_1571740516032572076[10] = 1.0; + out_1571740516032572076[11] = 0.0; + out_1571740516032572076[12] = 0.0; + out_1571740516032572076[13] = 0.0; + out_1571740516032572076[14] = 0.0; + out_1571740516032572076[15] = 0.0; + out_1571740516032572076[16] = 0.0; + out_1571740516032572076[17] = 0.0; + out_1571740516032572076[18] = 0.0; + out_1571740516032572076[19] = 0.0; + out_1571740516032572076[20] = 1.0; + out_1571740516032572076[21] = 0.0; + out_1571740516032572076[22] = 0.0; + out_1571740516032572076[23] = 0.0; + out_1571740516032572076[24] = 0.0; + out_1571740516032572076[25] = 0.0; + out_1571740516032572076[26] = 0.0; + out_1571740516032572076[27] = 0.0; + out_1571740516032572076[28] = 0.0; + out_1571740516032572076[29] = 0.0; + out_1571740516032572076[30] = 1.0; + out_1571740516032572076[31] = 0.0; + out_1571740516032572076[32] = 0.0; + out_1571740516032572076[33] = 0.0; + out_1571740516032572076[34] = 0.0; + out_1571740516032572076[35] = 0.0; + out_1571740516032572076[36] = 0.0; + out_1571740516032572076[37] = 0.0; + out_1571740516032572076[38] = 0.0; + out_1571740516032572076[39] = 0.0; + out_1571740516032572076[40] = 1.0; + out_1571740516032572076[41] = 0.0; + out_1571740516032572076[42] = 0.0; + out_1571740516032572076[43] = 0.0; + out_1571740516032572076[44] = 0.0; + out_1571740516032572076[45] = 0.0; + out_1571740516032572076[46] = 0.0; + out_1571740516032572076[47] = 0.0; + out_1571740516032572076[48] = 0.0; + out_1571740516032572076[49] = 0.0; + out_1571740516032572076[50] = 1.0; + out_1571740516032572076[51] = 0.0; + out_1571740516032572076[52] = 0.0; + out_1571740516032572076[53] = 0.0; + out_1571740516032572076[54] = 0.0; + out_1571740516032572076[55] = 0.0; + out_1571740516032572076[56] = 0.0; + out_1571740516032572076[57] = 0.0; + out_1571740516032572076[58] = 0.0; + out_1571740516032572076[59] = 0.0; + out_1571740516032572076[60] = 1.0; + out_1571740516032572076[61] = 0.0; + out_1571740516032572076[62] = 0.0; + out_1571740516032572076[63] = 0.0; + out_1571740516032572076[64] = 0.0; + out_1571740516032572076[65] = 0.0; + out_1571740516032572076[66] = 0.0; + out_1571740516032572076[67] = 0.0; + out_1571740516032572076[68] = 0.0; + out_1571740516032572076[69] = 0.0; + out_1571740516032572076[70] = 1.0; + out_1571740516032572076[71] = 0.0; + out_1571740516032572076[72] = 0.0; + out_1571740516032572076[73] = 0.0; + out_1571740516032572076[74] = 0.0; + out_1571740516032572076[75] = 0.0; + out_1571740516032572076[76] = 0.0; + out_1571740516032572076[77] = 0.0; + out_1571740516032572076[78] = 0.0; + out_1571740516032572076[79] = 0.0; + out_1571740516032572076[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1170289062789918948) { - out_1170289062789918948[0] = state[0]; - out_1170289062789918948[1] = state[1]; - out_1170289062789918948[2] = state[2]; - out_1170289062789918948[3] = state[3]; - out_1170289062789918948[4] = state[4]; - out_1170289062789918948[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_1170289062789918948[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_1170289062789918948[7] = state[7]; - out_1170289062789918948[8] = state[8]; +void f_fun(double *state, double dt, double *out_7904413896065989389) { + out_7904413896065989389[0] = state[0]; + out_7904413896065989389[1] = state[1]; + out_7904413896065989389[2] = state[2]; + out_7904413896065989389[3] = state[3]; + out_7904413896065989389[4] = state[4]; + out_7904413896065989389[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_7904413896065989389[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_7904413896065989389[7] = state[7]; + out_7904413896065989389[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3493049086978441612) { - out_3493049086978441612[0] = 1; - out_3493049086978441612[1] = 0; - out_3493049086978441612[2] = 0; - out_3493049086978441612[3] = 0; - out_3493049086978441612[4] = 0; - out_3493049086978441612[5] = 0; - out_3493049086978441612[6] = 0; - out_3493049086978441612[7] = 0; - out_3493049086978441612[8] = 0; - out_3493049086978441612[9] = 0; - out_3493049086978441612[10] = 1; - out_3493049086978441612[11] = 0; - out_3493049086978441612[12] = 0; - out_3493049086978441612[13] = 0; - out_3493049086978441612[14] = 0; - out_3493049086978441612[15] = 0; - out_3493049086978441612[16] = 0; - out_3493049086978441612[17] = 0; - out_3493049086978441612[18] = 0; - out_3493049086978441612[19] = 0; - out_3493049086978441612[20] = 1; - out_3493049086978441612[21] = 0; - out_3493049086978441612[22] = 0; - out_3493049086978441612[23] = 0; - out_3493049086978441612[24] = 0; - out_3493049086978441612[25] = 0; - out_3493049086978441612[26] = 0; - out_3493049086978441612[27] = 0; - out_3493049086978441612[28] = 0; - out_3493049086978441612[29] = 0; - out_3493049086978441612[30] = 1; - out_3493049086978441612[31] = 0; - out_3493049086978441612[32] = 0; - out_3493049086978441612[33] = 0; - out_3493049086978441612[34] = 0; - out_3493049086978441612[35] = 0; - out_3493049086978441612[36] = 0; - out_3493049086978441612[37] = 0; - out_3493049086978441612[38] = 0; - out_3493049086978441612[39] = 0; - out_3493049086978441612[40] = 1; - out_3493049086978441612[41] = 0; - out_3493049086978441612[42] = 0; - out_3493049086978441612[43] = 0; - out_3493049086978441612[44] = 0; - out_3493049086978441612[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_3493049086978441612[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3493049086978441612[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3493049086978441612[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3493049086978441612[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_3493049086978441612[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3493049086978441612[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3493049086978441612[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3493049086978441612[53] = -9.8100000000000005*dt; - out_3493049086978441612[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_3493049086978441612[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3493049086978441612[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3493049086978441612[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3493049086978441612[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_3493049086978441612[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3493049086978441612[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_3493049086978441612[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3493049086978441612[62] = 0; - out_3493049086978441612[63] = 0; - out_3493049086978441612[64] = 0; - out_3493049086978441612[65] = 0; - out_3493049086978441612[66] = 0; - out_3493049086978441612[67] = 0; - out_3493049086978441612[68] = 0; - out_3493049086978441612[69] = 0; - out_3493049086978441612[70] = 1; - out_3493049086978441612[71] = 0; - out_3493049086978441612[72] = 0; - out_3493049086978441612[73] = 0; - out_3493049086978441612[74] = 0; - out_3493049086978441612[75] = 0; - out_3493049086978441612[76] = 0; - out_3493049086978441612[77] = 0; - out_3493049086978441612[78] = 0; - out_3493049086978441612[79] = 0; - out_3493049086978441612[80] = 1; +void F_fun(double *state, double dt, double *out_6516583174049416628) { + out_6516583174049416628[0] = 1; + out_6516583174049416628[1] = 0; + out_6516583174049416628[2] = 0; + out_6516583174049416628[3] = 0; + out_6516583174049416628[4] = 0; + out_6516583174049416628[5] = 0; + out_6516583174049416628[6] = 0; + out_6516583174049416628[7] = 0; + out_6516583174049416628[8] = 0; + out_6516583174049416628[9] = 0; + out_6516583174049416628[10] = 1; + out_6516583174049416628[11] = 0; + out_6516583174049416628[12] = 0; + out_6516583174049416628[13] = 0; + out_6516583174049416628[14] = 0; + out_6516583174049416628[15] = 0; + out_6516583174049416628[16] = 0; + out_6516583174049416628[17] = 0; + out_6516583174049416628[18] = 0; + out_6516583174049416628[19] = 0; + out_6516583174049416628[20] = 1; + out_6516583174049416628[21] = 0; + out_6516583174049416628[22] = 0; + out_6516583174049416628[23] = 0; + out_6516583174049416628[24] = 0; + out_6516583174049416628[25] = 0; + out_6516583174049416628[26] = 0; + out_6516583174049416628[27] = 0; + out_6516583174049416628[28] = 0; + out_6516583174049416628[29] = 0; + out_6516583174049416628[30] = 1; + out_6516583174049416628[31] = 0; + out_6516583174049416628[32] = 0; + out_6516583174049416628[33] = 0; + out_6516583174049416628[34] = 0; + out_6516583174049416628[35] = 0; + out_6516583174049416628[36] = 0; + out_6516583174049416628[37] = 0; + out_6516583174049416628[38] = 0; + out_6516583174049416628[39] = 0; + out_6516583174049416628[40] = 1; + out_6516583174049416628[41] = 0; + out_6516583174049416628[42] = 0; + out_6516583174049416628[43] = 0; + out_6516583174049416628[44] = 0; + out_6516583174049416628[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_6516583174049416628[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6516583174049416628[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6516583174049416628[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6516583174049416628[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_6516583174049416628[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6516583174049416628[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6516583174049416628[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6516583174049416628[53] = -9.8100000000000005*dt; + out_6516583174049416628[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_6516583174049416628[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6516583174049416628[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6516583174049416628[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6516583174049416628[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_6516583174049416628[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6516583174049416628[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_6516583174049416628[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6516583174049416628[62] = 0; + out_6516583174049416628[63] = 0; + out_6516583174049416628[64] = 0; + out_6516583174049416628[65] = 0; + out_6516583174049416628[66] = 0; + out_6516583174049416628[67] = 0; + out_6516583174049416628[68] = 0; + out_6516583174049416628[69] = 0; + out_6516583174049416628[70] = 1; + out_6516583174049416628[71] = 0; + out_6516583174049416628[72] = 0; + out_6516583174049416628[73] = 0; + out_6516583174049416628[74] = 0; + out_6516583174049416628[75] = 0; + out_6516583174049416628[76] = 0; + out_6516583174049416628[77] = 0; + out_6516583174049416628[78] = 0; + out_6516583174049416628[79] = 0; + out_6516583174049416628[80] = 1; } -void h_25(double *state, double *unused, double *out_7013925099015375635) { - out_7013925099015375635[0] = state[6]; +void h_25(double *state, double *unused, double *out_6845996924949086281) { + out_6845996924949086281[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4945720278239497726) { - out_4945720278239497726[0] = 0; - out_4945720278239497726[1] = 0; - out_4945720278239497726[2] = 0; - out_4945720278239497726[3] = 0; - out_4945720278239497726[4] = 0; - out_4945720278239497726[5] = 0; - out_4945720278239497726[6] = 1; - out_4945720278239497726[7] = 0; - out_4945720278239497726[8] = 0; +void H_25(double *state, double *unused, double *out_4925282443857457875) { + out_4925282443857457875[0] = 0; + out_4925282443857457875[1] = 0; + out_4925282443857457875[2] = 0; + out_4925282443857457875[3] = 0; + out_4925282443857457875[4] = 0; + out_4925282443857457875[5] = 0; + out_4925282443857457875[6] = 1; + out_4925282443857457875[7] = 0; + out_4925282443857457875[8] = 0; } -void h_24(double *state, double *unused, double *out_1176701170289761958) { - out_1176701170289761958[0] = state[4]; - out_1176701170289761958[1] = state[5]; +void h_24(double *state, double *unused, double *out_76787194833890602) { + out_76787194833890602[0] = state[4]; + out_76787194833890602[1] = state[5]; } -void H_24(double *state, double *unused, double *out_199210951272988692) { - out_199210951272988692[0] = 0; - out_199210951272988692[1] = 0; - out_199210951272988692[2] = 0; - out_199210951272988692[3] = 0; - out_199210951272988692[4] = 1; - out_199210951272988692[5] = 0; - out_199210951272988692[6] = 0; - out_199210951272988692[7] = 0; - out_199210951272988692[8] = 0; - out_199210951272988692[9] = 0; - out_199210951272988692[10] = 0; - out_199210951272988692[11] = 0; - out_199210951272988692[12] = 0; - out_199210951272988692[13] = 0; - out_199210951272988692[14] = 1; - out_199210951272988692[15] = 0; - out_199210951272988692[16] = 0; - out_199210951272988692[17] = 0; +void H_24(double *state, double *unused, double *out_2493109189819469018) { + out_2493109189819469018[0] = 0; + out_2493109189819469018[1] = 0; + out_2493109189819469018[2] = 0; + out_2493109189819469018[3] = 0; + out_2493109189819469018[4] = 1; + out_2493109189819469018[5] = 0; + out_2493109189819469018[6] = 0; + out_2493109189819469018[7] = 0; + out_2493109189819469018[8] = 0; + out_2493109189819469018[9] = 0; + out_2493109189819469018[10] = 0; + out_2493109189819469018[11] = 0; + out_2493109189819469018[12] = 0; + out_2493109189819469018[13] = 0; + out_2493109189819469018[14] = 1; + out_2493109189819469018[15] = 0; + out_2493109189819469018[16] = 0; + out_2493109189819469018[17] = 0; } -void h_30(double *state, double *unused, double *out_3376475570761353285) { - out_3376475570761353285[0] = state[4]; +void h_30(double *state, double *unused, double *out_7304198287107647943) { + out_7304198287107647943[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6584333453978437135) { - out_6584333453978437135[0] = 0; - out_6584333453978437135[1] = 0; - out_6584333453978437135[2] = 0; - out_6584333453978437135[3] = 0; - out_6584333453978437135[4] = 1; - out_6584333453978437135[5] = 0; - out_6584333453978437135[6] = 0; - out_6584333453978437135[7] = 0; - out_6584333453978437135[8] = 0; +void H_30(double *state, double *unused, double *out_8993765299724485543) { + out_8993765299724485543[0] = 0; + out_8993765299724485543[1] = 0; + out_8993765299724485543[2] = 0; + out_8993765299724485543[3] = 0; + out_8993765299724485543[4] = 1; + out_8993765299724485543[5] = 0; + out_8993765299724485543[6] = 0; + out_8993765299724485543[7] = 0; + out_8993765299724485543[8] = 0; } -void h_26(double *state, double *unused, double *out_6352431583079506005) { - out_6352431583079506005[0] = state[7]; +void h_26(double *state, double *unused, double *out_6360688434205985508) { + out_6360688434205985508[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1204216959365441502) { - out_1204216959365441502[0] = 0; - out_1204216959365441502[1] = 0; - out_1204216959365441502[2] = 0; - out_1204216959365441502[3] = 0; - out_1204216959365441502[4] = 0; - out_1204216959365441502[5] = 0; - out_1204216959365441502[6] = 0; - out_1204216959365441502[7] = 1; - out_1204216959365441502[8] = 0; +void H_26(double *state, double *unused, double *out_8666785762731514099) { + out_8666785762731514099[0] = 0; + out_8666785762731514099[1] = 0; + out_8666785762731514099[2] = 0; + out_8666785762731514099[3] = 0; + out_8666785762731514099[4] = 0; + out_8666785762731514099[5] = 0; + out_8666785762731514099[6] = 0; + out_8666785762731514099[7] = 1; + out_8666785762731514099[8] = 0; } -void h_27(double *state, double *unused, double *out_8181668900091517372) { - out_8181668900091517372[0] = state[3]; +void h_27(double *state, double *unused, double *out_2448044843667457269) { + out_2448044843667457269[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8759096765778862046) { - out_8759096765778862046[0] = 0; - out_8759096765778862046[1] = 0; - out_8759096765778862046[2] = 0; - out_8759096765778862046[3] = 1; - out_8759096765778862046[4] = 0; - out_8759096765778862046[5] = 0; - out_8759096765778862046[6] = 0; - out_8759096765778862046[7] = 0; - out_8759096765778862046[8] = 0; +void H_27(double *state, double *unused, double *out_6819001987924060632) { + out_6819001987924060632[0] = 0; + out_6819001987924060632[1] = 0; + out_6819001987924060632[2] = 0; + out_6819001987924060632[3] = 1; + out_6819001987924060632[4] = 0; + out_6819001987924060632[5] = 0; + out_6819001987924060632[6] = 0; + out_6819001987924060632[7] = 0; + out_6819001987924060632[8] = 0; } -void h_29(double *state, double *unused, double *out_1625197696899492360) { - out_1625197696899492360[0] = state[1]; +void h_29(double *state, double *unused, double *out_2302525019446802298) { + out_2302525019446802298[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7974284581061138537) { - out_7974284581061138537[0] = 0; - out_7974284581061138537[1] = 1; - out_7974284581061138537[2] = 0; - out_7974284581061138537[3] = 0; - out_7974284581061138537[4] = 0; - out_7974284581061138537[5] = 0; - out_7974284581061138537[6] = 0; - out_7974284581061138537[7] = 0; - out_7974284581061138537[8] = 0; +void H_29(double *state, double *unused, double *out_8942747429670673889) { + out_8942747429670673889[0] = 0; + out_8942747429670673889[1] = 1; + out_8942747429670673889[2] = 0; + out_8942747429670673889[3] = 0; + out_8942747429670673889[4] = 0; + out_8942747429670673889[5] = 0; + out_8942747429670673889[6] = 0; + out_8942747429670673889[7] = 0; + out_8942747429670673889[8] = 0; } -void h_28(double *state, double *unused, double *out_7452523070348180861) { - out_7452523070348180861[0] = state[0]; +void h_28(double *state, double *unused, double *out_2553628423993388376) { + out_2553628423993388376[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2891885563991607963) { - out_2891885563991607963[0] = 1; - out_2891885563991607963[1] = 0; - out_2891885563991607963[2] = 0; - out_2891885563991607963[3] = 0; - out_2891885563991607963[4] = 0; - out_2891885563991607963[5] = 0; - out_2891885563991607963[6] = 0; - out_2891885563991607963[7] = 0; - out_2891885563991607963[8] = 0; +void H_28(double *state, double *unused, double *out_4421597626969347153) { + out_4421597626969347153[0] = 1; + out_4421597626969347153[1] = 0; + out_4421597626969347153[2] = 0; + out_4421597626969347153[3] = 0; + out_4421597626969347153[4] = 0; + out_4421597626969347153[5] = 0; + out_4421597626969347153[6] = 0; + out_4421597626969347153[7] = 0; + out_4421597626969347153[8] = 0; } -void h_31(double *state, double *unused, double *out_5836194589039397969) { - out_5836194589039397969[0] = state[8]; +void h_31(double *state, double *unused, double *out_7359576434127226352) { + out_7359576434127226352[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4976366240116458154) { - out_4976366240116458154[0] = 0; - out_4976366240116458154[1] = 0; - out_4976366240116458154[2] = 0; - out_4976366240116458154[3] = 0; - out_4976366240116458154[4] = 0; - out_4976366240116458154[5] = 0; - out_4976366240116458154[6] = 0; - out_4976366240116458154[7] = 0; - out_4976366240116458154[8] = 1; +void H_31(double *state, double *unused, double *out_9153750208744686041) { + out_9153750208744686041[0] = 0; + out_9153750208744686041[1] = 0; + out_9153750208744686041[2] = 0; + out_9153750208744686041[3] = 0; + out_9153750208744686041[4] = 0; + out_9153750208744686041[5] = 0; + out_9153750208744686041[6] = 0; + out_9153750208744686041[7] = 0; + out_9153750208744686041[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_92735882134146519) { - err_fun(nom_x, delta_x, out_92735882134146519); +void car_err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664) { + err_fun(nom_x, delta_x, out_6125726627663246664); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787) { - inv_err_fun(nom_x, true_x, out_3460935513230882787); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672) { + inv_err_fun(nom_x, true_x, out_87606233557452672); } -void car_H_mod_fun(double *state, double *out_1422739628250006049) { - H_mod_fun(state, out_1422739628250006049); +void car_H_mod_fun(double *state, double *out_1571740516032572076) { + H_mod_fun(state, out_1571740516032572076); } -void car_f_fun(double *state, double dt, double *out_1170289062789918948) { - f_fun(state, dt, out_1170289062789918948); +void car_f_fun(double *state, double dt, double *out_7904413896065989389) { + f_fun(state, dt, out_7904413896065989389); } -void car_F_fun(double *state, double dt, double *out_3493049086978441612) { - F_fun(state, dt, out_3493049086978441612); +void car_F_fun(double *state, double dt, double *out_6516583174049416628) { + F_fun(state, dt, out_6516583174049416628); } -void car_h_25(double *state, double *unused, double *out_7013925099015375635) { - h_25(state, unused, out_7013925099015375635); +void car_h_25(double *state, double *unused, double *out_6845996924949086281) { + h_25(state, unused, out_6845996924949086281); } -void car_H_25(double *state, double *unused, double *out_4945720278239497726) { - H_25(state, unused, out_4945720278239497726); +void car_H_25(double *state, double *unused, double *out_4925282443857457875) { + H_25(state, unused, out_4925282443857457875); } -void car_h_24(double *state, double *unused, double *out_1176701170289761958) { - h_24(state, unused, out_1176701170289761958); +void car_h_24(double *state, double *unused, double *out_76787194833890602) { + h_24(state, unused, out_76787194833890602); } -void car_H_24(double *state, double *unused, double *out_199210951272988692) { - H_24(state, unused, out_199210951272988692); +void car_H_24(double *state, double *unused, double *out_2493109189819469018) { + H_24(state, unused, out_2493109189819469018); } -void car_h_30(double *state, double *unused, double *out_3376475570761353285) { - h_30(state, unused, out_3376475570761353285); +void car_h_30(double *state, double *unused, double *out_7304198287107647943) { + h_30(state, unused, out_7304198287107647943); } -void car_H_30(double *state, double *unused, double *out_6584333453978437135) { - H_30(state, unused, out_6584333453978437135); +void car_H_30(double *state, double *unused, double *out_8993765299724485543) { + H_30(state, unused, out_8993765299724485543); } -void car_h_26(double *state, double *unused, double *out_6352431583079506005) { - h_26(state, unused, out_6352431583079506005); +void car_h_26(double *state, double *unused, double *out_6360688434205985508) { + h_26(state, unused, out_6360688434205985508); } -void car_H_26(double *state, double *unused, double *out_1204216959365441502) { - H_26(state, unused, out_1204216959365441502); +void car_H_26(double *state, double *unused, double *out_8666785762731514099) { + H_26(state, unused, out_8666785762731514099); } -void car_h_27(double *state, double *unused, double *out_8181668900091517372) { - h_27(state, unused, out_8181668900091517372); +void car_h_27(double *state, double *unused, double *out_2448044843667457269) { + h_27(state, unused, out_2448044843667457269); } -void car_H_27(double *state, double *unused, double *out_8759096765778862046) { - H_27(state, unused, out_8759096765778862046); +void car_H_27(double *state, double *unused, double *out_6819001987924060632) { + H_27(state, unused, out_6819001987924060632); } -void car_h_29(double *state, double *unused, double *out_1625197696899492360) { - h_29(state, unused, out_1625197696899492360); +void car_h_29(double *state, double *unused, double *out_2302525019446802298) { + h_29(state, unused, out_2302525019446802298); } -void car_H_29(double *state, double *unused, double *out_7974284581061138537) { - H_29(state, unused, out_7974284581061138537); +void car_H_29(double *state, double *unused, double *out_8942747429670673889) { + H_29(state, unused, out_8942747429670673889); } -void car_h_28(double *state, double *unused, double *out_7452523070348180861) { - h_28(state, unused, out_7452523070348180861); +void car_h_28(double *state, double *unused, double *out_2553628423993388376) { + h_28(state, unused, out_2553628423993388376); } -void car_H_28(double *state, double *unused, double *out_2891885563991607963) { - H_28(state, unused, out_2891885563991607963); +void car_H_28(double *state, double *unused, double *out_4421597626969347153) { + H_28(state, unused, out_4421597626969347153); } -void car_h_31(double *state, double *unused, double *out_5836194589039397969) { - h_31(state, unused, out_5836194589039397969); +void car_h_31(double *state, double *unused, double *out_7359576434127226352) { + h_31(state, unused, out_7359576434127226352); } -void car_H_31(double *state, double *unused, double *out_4976366240116458154) { - H_31(state, unused, out_4976366240116458154); +void car_H_31(double *state, double *unused, double *out_9153750208744686041) { + H_31(state, unused, out_9153750208744686041); } 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 ae5afe037..9578cbf44 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_92735882134146519); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3460935513230882787); -void car_H_mod_fun(double *state, double *out_1422739628250006049); -void car_f_fun(double *state, double dt, double *out_1170289062789918948); -void car_F_fun(double *state, double dt, double *out_3493049086978441612); -void car_h_25(double *state, double *unused, double *out_7013925099015375635); -void car_H_25(double *state, double *unused, double *out_4945720278239497726); -void car_h_24(double *state, double *unused, double *out_1176701170289761958); -void car_H_24(double *state, double *unused, double *out_199210951272988692); -void car_h_30(double *state, double *unused, double *out_3376475570761353285); -void car_H_30(double *state, double *unused, double *out_6584333453978437135); -void car_h_26(double *state, double *unused, double *out_6352431583079506005); -void car_H_26(double *state, double *unused, double *out_1204216959365441502); -void car_h_27(double *state, double *unused, double *out_8181668900091517372); -void car_H_27(double *state, double *unused, double *out_8759096765778862046); -void car_h_29(double *state, double *unused, double *out_1625197696899492360); -void car_H_29(double *state, double *unused, double *out_7974284581061138537); -void car_h_28(double *state, double *unused, double *out_7452523070348180861); -void car_H_28(double *state, double *unused, double *out_2891885563991607963); -void car_h_31(double *state, double *unused, double *out_5836194589039397969); -void car_H_31(double *state, double *unused, double *out_4976366240116458154); +void car_err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672); +void car_H_mod_fun(double *state, double *out_1571740516032572076); +void car_f_fun(double *state, double dt, double *out_7904413896065989389); +void car_F_fun(double *state, double dt, double *out_6516583174049416628); +void car_h_25(double *state, double *unused, double *out_6845996924949086281); +void car_H_25(double *state, double *unused, double *out_4925282443857457875); +void car_h_24(double *state, double *unused, double *out_76787194833890602); +void car_H_24(double *state, double *unused, double *out_2493109189819469018); +void car_h_30(double *state, double *unused, double *out_7304198287107647943); +void car_H_30(double *state, double *unused, double *out_8993765299724485543); +void car_h_26(double *state, double *unused, double *out_6360688434205985508); +void car_H_26(double *state, double *unused, double *out_8666785762731514099); +void car_h_27(double *state, double *unused, double *out_2448044843667457269); +void car_H_27(double *state, double *unused, double *out_6819001987924060632); +void car_h_29(double *state, double *unused, double *out_2302525019446802298); +void car_H_29(double *state, double *unused, double *out_8942747429670673889); +void car_h_28(double *state, double *unused, double *out_2553628423993388376); +void car_H_28(double *state, double *unused, double *out_4421597626969347153); +void car_h_31(double *state, double *unused, double *out_7359576434127226352); +void car_H_31(double *state, double *unused, double *out_9153750208744686041); 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 ef90c8ee3..0f40acd86 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_2550502777521953992) { - out_2550502777521953992[0] = delta_x[0] + nom_x[0]; - out_2550502777521953992[1] = delta_x[1] + nom_x[1]; - out_2550502777521953992[2] = delta_x[2] + nom_x[2]; - out_2550502777521953992[3] = delta_x[3] + nom_x[3]; - out_2550502777521953992[4] = delta_x[4] + nom_x[4]; - out_2550502777521953992[5] = delta_x[5] + nom_x[5]; - out_2550502777521953992[6] = delta_x[6] + nom_x[6]; - out_2550502777521953992[7] = delta_x[7] + nom_x[7]; - out_2550502777521953992[8] = delta_x[8] + nom_x[8]; - out_2550502777521953992[9] = delta_x[9] + nom_x[9]; - out_2550502777521953992[10] = delta_x[10] + nom_x[10]; - out_2550502777521953992[11] = delta_x[11] + nom_x[11]; - out_2550502777521953992[12] = delta_x[12] + nom_x[12]; - out_2550502777521953992[13] = delta_x[13] + nom_x[13]; - out_2550502777521953992[14] = delta_x[14] + nom_x[14]; - out_2550502777521953992[15] = delta_x[15] + nom_x[15]; - out_2550502777521953992[16] = delta_x[16] + nom_x[16]; - out_2550502777521953992[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5340642756295943636) { + out_5340642756295943636[0] = delta_x[0] + nom_x[0]; + out_5340642756295943636[1] = delta_x[1] + nom_x[1]; + out_5340642756295943636[2] = delta_x[2] + nom_x[2]; + out_5340642756295943636[3] = delta_x[3] + nom_x[3]; + out_5340642756295943636[4] = delta_x[4] + nom_x[4]; + out_5340642756295943636[5] = delta_x[5] + nom_x[5]; + out_5340642756295943636[6] = delta_x[6] + nom_x[6]; + out_5340642756295943636[7] = delta_x[7] + nom_x[7]; + out_5340642756295943636[8] = delta_x[8] + nom_x[8]; + out_5340642756295943636[9] = delta_x[9] + nom_x[9]; + out_5340642756295943636[10] = delta_x[10] + nom_x[10]; + out_5340642756295943636[11] = delta_x[11] + nom_x[11]; + out_5340642756295943636[12] = delta_x[12] + nom_x[12]; + out_5340642756295943636[13] = delta_x[13] + nom_x[13]; + out_5340642756295943636[14] = delta_x[14] + nom_x[14]; + out_5340642756295943636[15] = delta_x[15] + nom_x[15]; + out_5340642756295943636[16] = delta_x[16] + nom_x[16]; + out_5340642756295943636[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2991013798952875835) { - out_2991013798952875835[0] = -nom_x[0] + true_x[0]; - out_2991013798952875835[1] = -nom_x[1] + true_x[1]; - out_2991013798952875835[2] = -nom_x[2] + true_x[2]; - out_2991013798952875835[3] = -nom_x[3] + true_x[3]; - out_2991013798952875835[4] = -nom_x[4] + true_x[4]; - out_2991013798952875835[5] = -nom_x[5] + true_x[5]; - out_2991013798952875835[6] = -nom_x[6] + true_x[6]; - out_2991013798952875835[7] = -nom_x[7] + true_x[7]; - out_2991013798952875835[8] = -nom_x[8] + true_x[8]; - out_2991013798952875835[9] = -nom_x[9] + true_x[9]; - out_2991013798952875835[10] = -nom_x[10] + true_x[10]; - out_2991013798952875835[11] = -nom_x[11] + true_x[11]; - out_2991013798952875835[12] = -nom_x[12] + true_x[12]; - out_2991013798952875835[13] = -nom_x[13] + true_x[13]; - out_2991013798952875835[14] = -nom_x[14] + true_x[14]; - out_2991013798952875835[15] = -nom_x[15] + true_x[15]; - out_2991013798952875835[16] = -nom_x[16] + true_x[16]; - out_2991013798952875835[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6968876690248087810) { + out_6968876690248087810[0] = -nom_x[0] + true_x[0]; + out_6968876690248087810[1] = -nom_x[1] + true_x[1]; + out_6968876690248087810[2] = -nom_x[2] + true_x[2]; + out_6968876690248087810[3] = -nom_x[3] + true_x[3]; + out_6968876690248087810[4] = -nom_x[4] + true_x[4]; + out_6968876690248087810[5] = -nom_x[5] + true_x[5]; + out_6968876690248087810[6] = -nom_x[6] + true_x[6]; + out_6968876690248087810[7] = -nom_x[7] + true_x[7]; + out_6968876690248087810[8] = -nom_x[8] + true_x[8]; + out_6968876690248087810[9] = -nom_x[9] + true_x[9]; + out_6968876690248087810[10] = -nom_x[10] + true_x[10]; + out_6968876690248087810[11] = -nom_x[11] + true_x[11]; + out_6968876690248087810[12] = -nom_x[12] + true_x[12]; + out_6968876690248087810[13] = -nom_x[13] + true_x[13]; + out_6968876690248087810[14] = -nom_x[14] + true_x[14]; + out_6968876690248087810[15] = -nom_x[15] + true_x[15]; + out_6968876690248087810[16] = -nom_x[16] + true_x[16]; + out_6968876690248087810[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_3992538829710935120) { - out_3992538829710935120[0] = 1.0; - out_3992538829710935120[1] = 0.0; - out_3992538829710935120[2] = 0.0; - out_3992538829710935120[3] = 0.0; - out_3992538829710935120[4] = 0.0; - out_3992538829710935120[5] = 0.0; - out_3992538829710935120[6] = 0.0; - out_3992538829710935120[7] = 0.0; - out_3992538829710935120[8] = 0.0; - out_3992538829710935120[9] = 0.0; - out_3992538829710935120[10] = 0.0; - out_3992538829710935120[11] = 0.0; - out_3992538829710935120[12] = 0.0; - out_3992538829710935120[13] = 0.0; - out_3992538829710935120[14] = 0.0; - out_3992538829710935120[15] = 0.0; - out_3992538829710935120[16] = 0.0; - out_3992538829710935120[17] = 0.0; - out_3992538829710935120[18] = 0.0; - out_3992538829710935120[19] = 1.0; - out_3992538829710935120[20] = 0.0; - out_3992538829710935120[21] = 0.0; - out_3992538829710935120[22] = 0.0; - out_3992538829710935120[23] = 0.0; - out_3992538829710935120[24] = 0.0; - out_3992538829710935120[25] = 0.0; - out_3992538829710935120[26] = 0.0; - out_3992538829710935120[27] = 0.0; - out_3992538829710935120[28] = 0.0; - out_3992538829710935120[29] = 0.0; - out_3992538829710935120[30] = 0.0; - out_3992538829710935120[31] = 0.0; - out_3992538829710935120[32] = 0.0; - out_3992538829710935120[33] = 0.0; - out_3992538829710935120[34] = 0.0; - out_3992538829710935120[35] = 0.0; - out_3992538829710935120[36] = 0.0; - out_3992538829710935120[37] = 0.0; - out_3992538829710935120[38] = 1.0; - out_3992538829710935120[39] = 0.0; - out_3992538829710935120[40] = 0.0; - out_3992538829710935120[41] = 0.0; - out_3992538829710935120[42] = 0.0; - out_3992538829710935120[43] = 0.0; - out_3992538829710935120[44] = 0.0; - out_3992538829710935120[45] = 0.0; - out_3992538829710935120[46] = 0.0; - out_3992538829710935120[47] = 0.0; - out_3992538829710935120[48] = 0.0; - out_3992538829710935120[49] = 0.0; - out_3992538829710935120[50] = 0.0; - out_3992538829710935120[51] = 0.0; - out_3992538829710935120[52] = 0.0; - out_3992538829710935120[53] = 0.0; - out_3992538829710935120[54] = 0.0; - out_3992538829710935120[55] = 0.0; - out_3992538829710935120[56] = 0.0; - out_3992538829710935120[57] = 1.0; - out_3992538829710935120[58] = 0.0; - out_3992538829710935120[59] = 0.0; - out_3992538829710935120[60] = 0.0; - out_3992538829710935120[61] = 0.0; - out_3992538829710935120[62] = 0.0; - out_3992538829710935120[63] = 0.0; - out_3992538829710935120[64] = 0.0; - out_3992538829710935120[65] = 0.0; - out_3992538829710935120[66] = 0.0; - out_3992538829710935120[67] = 0.0; - out_3992538829710935120[68] = 0.0; - out_3992538829710935120[69] = 0.0; - out_3992538829710935120[70] = 0.0; - out_3992538829710935120[71] = 0.0; - out_3992538829710935120[72] = 0.0; - out_3992538829710935120[73] = 0.0; - out_3992538829710935120[74] = 0.0; - out_3992538829710935120[75] = 0.0; - out_3992538829710935120[76] = 1.0; - out_3992538829710935120[77] = 0.0; - out_3992538829710935120[78] = 0.0; - out_3992538829710935120[79] = 0.0; - out_3992538829710935120[80] = 0.0; - out_3992538829710935120[81] = 0.0; - out_3992538829710935120[82] = 0.0; - out_3992538829710935120[83] = 0.0; - out_3992538829710935120[84] = 0.0; - out_3992538829710935120[85] = 0.0; - out_3992538829710935120[86] = 0.0; - out_3992538829710935120[87] = 0.0; - out_3992538829710935120[88] = 0.0; - out_3992538829710935120[89] = 0.0; - out_3992538829710935120[90] = 0.0; - out_3992538829710935120[91] = 0.0; - out_3992538829710935120[92] = 0.0; - out_3992538829710935120[93] = 0.0; - out_3992538829710935120[94] = 0.0; - out_3992538829710935120[95] = 1.0; - out_3992538829710935120[96] = 0.0; - out_3992538829710935120[97] = 0.0; - out_3992538829710935120[98] = 0.0; - out_3992538829710935120[99] = 0.0; - out_3992538829710935120[100] = 0.0; - out_3992538829710935120[101] = 0.0; - out_3992538829710935120[102] = 0.0; - out_3992538829710935120[103] = 0.0; - out_3992538829710935120[104] = 0.0; - out_3992538829710935120[105] = 0.0; - out_3992538829710935120[106] = 0.0; - out_3992538829710935120[107] = 0.0; - out_3992538829710935120[108] = 0.0; - out_3992538829710935120[109] = 0.0; - out_3992538829710935120[110] = 0.0; - out_3992538829710935120[111] = 0.0; - out_3992538829710935120[112] = 0.0; - out_3992538829710935120[113] = 0.0; - out_3992538829710935120[114] = 1.0; - out_3992538829710935120[115] = 0.0; - out_3992538829710935120[116] = 0.0; - out_3992538829710935120[117] = 0.0; - out_3992538829710935120[118] = 0.0; - out_3992538829710935120[119] = 0.0; - out_3992538829710935120[120] = 0.0; - out_3992538829710935120[121] = 0.0; - out_3992538829710935120[122] = 0.0; - out_3992538829710935120[123] = 0.0; - out_3992538829710935120[124] = 0.0; - out_3992538829710935120[125] = 0.0; - out_3992538829710935120[126] = 0.0; - out_3992538829710935120[127] = 0.0; - out_3992538829710935120[128] = 0.0; - out_3992538829710935120[129] = 0.0; - out_3992538829710935120[130] = 0.0; - out_3992538829710935120[131] = 0.0; - out_3992538829710935120[132] = 0.0; - out_3992538829710935120[133] = 1.0; - out_3992538829710935120[134] = 0.0; - out_3992538829710935120[135] = 0.0; - out_3992538829710935120[136] = 0.0; - out_3992538829710935120[137] = 0.0; - out_3992538829710935120[138] = 0.0; - out_3992538829710935120[139] = 0.0; - out_3992538829710935120[140] = 0.0; - out_3992538829710935120[141] = 0.0; - out_3992538829710935120[142] = 0.0; - out_3992538829710935120[143] = 0.0; - out_3992538829710935120[144] = 0.0; - out_3992538829710935120[145] = 0.0; - out_3992538829710935120[146] = 0.0; - out_3992538829710935120[147] = 0.0; - out_3992538829710935120[148] = 0.0; - out_3992538829710935120[149] = 0.0; - out_3992538829710935120[150] = 0.0; - out_3992538829710935120[151] = 0.0; - out_3992538829710935120[152] = 1.0; - out_3992538829710935120[153] = 0.0; - out_3992538829710935120[154] = 0.0; - out_3992538829710935120[155] = 0.0; - out_3992538829710935120[156] = 0.0; - out_3992538829710935120[157] = 0.0; - out_3992538829710935120[158] = 0.0; - out_3992538829710935120[159] = 0.0; - out_3992538829710935120[160] = 0.0; - out_3992538829710935120[161] = 0.0; - out_3992538829710935120[162] = 0.0; - out_3992538829710935120[163] = 0.0; - out_3992538829710935120[164] = 0.0; - out_3992538829710935120[165] = 0.0; - out_3992538829710935120[166] = 0.0; - out_3992538829710935120[167] = 0.0; - out_3992538829710935120[168] = 0.0; - out_3992538829710935120[169] = 0.0; - out_3992538829710935120[170] = 0.0; - out_3992538829710935120[171] = 1.0; - out_3992538829710935120[172] = 0.0; - out_3992538829710935120[173] = 0.0; - out_3992538829710935120[174] = 0.0; - out_3992538829710935120[175] = 0.0; - out_3992538829710935120[176] = 0.0; - out_3992538829710935120[177] = 0.0; - out_3992538829710935120[178] = 0.0; - out_3992538829710935120[179] = 0.0; - out_3992538829710935120[180] = 0.0; - out_3992538829710935120[181] = 0.0; - out_3992538829710935120[182] = 0.0; - out_3992538829710935120[183] = 0.0; - out_3992538829710935120[184] = 0.0; - out_3992538829710935120[185] = 0.0; - out_3992538829710935120[186] = 0.0; - out_3992538829710935120[187] = 0.0; - out_3992538829710935120[188] = 0.0; - out_3992538829710935120[189] = 0.0; - out_3992538829710935120[190] = 1.0; - out_3992538829710935120[191] = 0.0; - out_3992538829710935120[192] = 0.0; - out_3992538829710935120[193] = 0.0; - out_3992538829710935120[194] = 0.0; - out_3992538829710935120[195] = 0.0; - out_3992538829710935120[196] = 0.0; - out_3992538829710935120[197] = 0.0; - out_3992538829710935120[198] = 0.0; - out_3992538829710935120[199] = 0.0; - out_3992538829710935120[200] = 0.0; - out_3992538829710935120[201] = 0.0; - out_3992538829710935120[202] = 0.0; - out_3992538829710935120[203] = 0.0; - out_3992538829710935120[204] = 0.0; - out_3992538829710935120[205] = 0.0; - out_3992538829710935120[206] = 0.0; - out_3992538829710935120[207] = 0.0; - out_3992538829710935120[208] = 0.0; - out_3992538829710935120[209] = 1.0; - out_3992538829710935120[210] = 0.0; - out_3992538829710935120[211] = 0.0; - out_3992538829710935120[212] = 0.0; - out_3992538829710935120[213] = 0.0; - out_3992538829710935120[214] = 0.0; - out_3992538829710935120[215] = 0.0; - out_3992538829710935120[216] = 0.0; - out_3992538829710935120[217] = 0.0; - out_3992538829710935120[218] = 0.0; - out_3992538829710935120[219] = 0.0; - out_3992538829710935120[220] = 0.0; - out_3992538829710935120[221] = 0.0; - out_3992538829710935120[222] = 0.0; - out_3992538829710935120[223] = 0.0; - out_3992538829710935120[224] = 0.0; - out_3992538829710935120[225] = 0.0; - out_3992538829710935120[226] = 0.0; - out_3992538829710935120[227] = 0.0; - out_3992538829710935120[228] = 1.0; - out_3992538829710935120[229] = 0.0; - out_3992538829710935120[230] = 0.0; - out_3992538829710935120[231] = 0.0; - out_3992538829710935120[232] = 0.0; - out_3992538829710935120[233] = 0.0; - out_3992538829710935120[234] = 0.0; - out_3992538829710935120[235] = 0.0; - out_3992538829710935120[236] = 0.0; - out_3992538829710935120[237] = 0.0; - out_3992538829710935120[238] = 0.0; - out_3992538829710935120[239] = 0.0; - out_3992538829710935120[240] = 0.0; - out_3992538829710935120[241] = 0.0; - out_3992538829710935120[242] = 0.0; - out_3992538829710935120[243] = 0.0; - out_3992538829710935120[244] = 0.0; - out_3992538829710935120[245] = 0.0; - out_3992538829710935120[246] = 0.0; - out_3992538829710935120[247] = 1.0; - out_3992538829710935120[248] = 0.0; - out_3992538829710935120[249] = 0.0; - out_3992538829710935120[250] = 0.0; - out_3992538829710935120[251] = 0.0; - out_3992538829710935120[252] = 0.0; - out_3992538829710935120[253] = 0.0; - out_3992538829710935120[254] = 0.0; - out_3992538829710935120[255] = 0.0; - out_3992538829710935120[256] = 0.0; - out_3992538829710935120[257] = 0.0; - out_3992538829710935120[258] = 0.0; - out_3992538829710935120[259] = 0.0; - out_3992538829710935120[260] = 0.0; - out_3992538829710935120[261] = 0.0; - out_3992538829710935120[262] = 0.0; - out_3992538829710935120[263] = 0.0; - out_3992538829710935120[264] = 0.0; - out_3992538829710935120[265] = 0.0; - out_3992538829710935120[266] = 1.0; - out_3992538829710935120[267] = 0.0; - out_3992538829710935120[268] = 0.0; - out_3992538829710935120[269] = 0.0; - out_3992538829710935120[270] = 0.0; - out_3992538829710935120[271] = 0.0; - out_3992538829710935120[272] = 0.0; - out_3992538829710935120[273] = 0.0; - out_3992538829710935120[274] = 0.0; - out_3992538829710935120[275] = 0.0; - out_3992538829710935120[276] = 0.0; - out_3992538829710935120[277] = 0.0; - out_3992538829710935120[278] = 0.0; - out_3992538829710935120[279] = 0.0; - out_3992538829710935120[280] = 0.0; - out_3992538829710935120[281] = 0.0; - out_3992538829710935120[282] = 0.0; - out_3992538829710935120[283] = 0.0; - out_3992538829710935120[284] = 0.0; - out_3992538829710935120[285] = 1.0; - out_3992538829710935120[286] = 0.0; - out_3992538829710935120[287] = 0.0; - out_3992538829710935120[288] = 0.0; - out_3992538829710935120[289] = 0.0; - out_3992538829710935120[290] = 0.0; - out_3992538829710935120[291] = 0.0; - out_3992538829710935120[292] = 0.0; - out_3992538829710935120[293] = 0.0; - out_3992538829710935120[294] = 0.0; - out_3992538829710935120[295] = 0.0; - out_3992538829710935120[296] = 0.0; - out_3992538829710935120[297] = 0.0; - out_3992538829710935120[298] = 0.0; - out_3992538829710935120[299] = 0.0; - out_3992538829710935120[300] = 0.0; - out_3992538829710935120[301] = 0.0; - out_3992538829710935120[302] = 0.0; - out_3992538829710935120[303] = 0.0; - out_3992538829710935120[304] = 1.0; - out_3992538829710935120[305] = 0.0; - out_3992538829710935120[306] = 0.0; - out_3992538829710935120[307] = 0.0; - out_3992538829710935120[308] = 0.0; - out_3992538829710935120[309] = 0.0; - out_3992538829710935120[310] = 0.0; - out_3992538829710935120[311] = 0.0; - out_3992538829710935120[312] = 0.0; - out_3992538829710935120[313] = 0.0; - out_3992538829710935120[314] = 0.0; - out_3992538829710935120[315] = 0.0; - out_3992538829710935120[316] = 0.0; - out_3992538829710935120[317] = 0.0; - out_3992538829710935120[318] = 0.0; - out_3992538829710935120[319] = 0.0; - out_3992538829710935120[320] = 0.0; - out_3992538829710935120[321] = 0.0; - out_3992538829710935120[322] = 0.0; - out_3992538829710935120[323] = 1.0; +void H_mod_fun(double *state, double *out_3389862186663429553) { + out_3389862186663429553[0] = 1.0; + out_3389862186663429553[1] = 0.0; + out_3389862186663429553[2] = 0.0; + out_3389862186663429553[3] = 0.0; + out_3389862186663429553[4] = 0.0; + out_3389862186663429553[5] = 0.0; + out_3389862186663429553[6] = 0.0; + out_3389862186663429553[7] = 0.0; + out_3389862186663429553[8] = 0.0; + out_3389862186663429553[9] = 0.0; + out_3389862186663429553[10] = 0.0; + out_3389862186663429553[11] = 0.0; + out_3389862186663429553[12] = 0.0; + out_3389862186663429553[13] = 0.0; + out_3389862186663429553[14] = 0.0; + out_3389862186663429553[15] = 0.0; + out_3389862186663429553[16] = 0.0; + out_3389862186663429553[17] = 0.0; + out_3389862186663429553[18] = 0.0; + out_3389862186663429553[19] = 1.0; + out_3389862186663429553[20] = 0.0; + out_3389862186663429553[21] = 0.0; + out_3389862186663429553[22] = 0.0; + out_3389862186663429553[23] = 0.0; + out_3389862186663429553[24] = 0.0; + out_3389862186663429553[25] = 0.0; + out_3389862186663429553[26] = 0.0; + out_3389862186663429553[27] = 0.0; + out_3389862186663429553[28] = 0.0; + out_3389862186663429553[29] = 0.0; + out_3389862186663429553[30] = 0.0; + out_3389862186663429553[31] = 0.0; + out_3389862186663429553[32] = 0.0; + out_3389862186663429553[33] = 0.0; + out_3389862186663429553[34] = 0.0; + out_3389862186663429553[35] = 0.0; + out_3389862186663429553[36] = 0.0; + out_3389862186663429553[37] = 0.0; + out_3389862186663429553[38] = 1.0; + out_3389862186663429553[39] = 0.0; + out_3389862186663429553[40] = 0.0; + out_3389862186663429553[41] = 0.0; + out_3389862186663429553[42] = 0.0; + out_3389862186663429553[43] = 0.0; + out_3389862186663429553[44] = 0.0; + out_3389862186663429553[45] = 0.0; + out_3389862186663429553[46] = 0.0; + out_3389862186663429553[47] = 0.0; + out_3389862186663429553[48] = 0.0; + out_3389862186663429553[49] = 0.0; + out_3389862186663429553[50] = 0.0; + out_3389862186663429553[51] = 0.0; + out_3389862186663429553[52] = 0.0; + out_3389862186663429553[53] = 0.0; + out_3389862186663429553[54] = 0.0; + out_3389862186663429553[55] = 0.0; + out_3389862186663429553[56] = 0.0; + out_3389862186663429553[57] = 1.0; + out_3389862186663429553[58] = 0.0; + out_3389862186663429553[59] = 0.0; + out_3389862186663429553[60] = 0.0; + out_3389862186663429553[61] = 0.0; + out_3389862186663429553[62] = 0.0; + out_3389862186663429553[63] = 0.0; + out_3389862186663429553[64] = 0.0; + out_3389862186663429553[65] = 0.0; + out_3389862186663429553[66] = 0.0; + out_3389862186663429553[67] = 0.0; + out_3389862186663429553[68] = 0.0; + out_3389862186663429553[69] = 0.0; + out_3389862186663429553[70] = 0.0; + out_3389862186663429553[71] = 0.0; + out_3389862186663429553[72] = 0.0; + out_3389862186663429553[73] = 0.0; + out_3389862186663429553[74] = 0.0; + out_3389862186663429553[75] = 0.0; + out_3389862186663429553[76] = 1.0; + out_3389862186663429553[77] = 0.0; + out_3389862186663429553[78] = 0.0; + out_3389862186663429553[79] = 0.0; + out_3389862186663429553[80] = 0.0; + out_3389862186663429553[81] = 0.0; + out_3389862186663429553[82] = 0.0; + out_3389862186663429553[83] = 0.0; + out_3389862186663429553[84] = 0.0; + out_3389862186663429553[85] = 0.0; + out_3389862186663429553[86] = 0.0; + out_3389862186663429553[87] = 0.0; + out_3389862186663429553[88] = 0.0; + out_3389862186663429553[89] = 0.0; + out_3389862186663429553[90] = 0.0; + out_3389862186663429553[91] = 0.0; + out_3389862186663429553[92] = 0.0; + out_3389862186663429553[93] = 0.0; + out_3389862186663429553[94] = 0.0; + out_3389862186663429553[95] = 1.0; + out_3389862186663429553[96] = 0.0; + out_3389862186663429553[97] = 0.0; + out_3389862186663429553[98] = 0.0; + out_3389862186663429553[99] = 0.0; + out_3389862186663429553[100] = 0.0; + out_3389862186663429553[101] = 0.0; + out_3389862186663429553[102] = 0.0; + out_3389862186663429553[103] = 0.0; + out_3389862186663429553[104] = 0.0; + out_3389862186663429553[105] = 0.0; + out_3389862186663429553[106] = 0.0; + out_3389862186663429553[107] = 0.0; + out_3389862186663429553[108] = 0.0; + out_3389862186663429553[109] = 0.0; + out_3389862186663429553[110] = 0.0; + out_3389862186663429553[111] = 0.0; + out_3389862186663429553[112] = 0.0; + out_3389862186663429553[113] = 0.0; + out_3389862186663429553[114] = 1.0; + out_3389862186663429553[115] = 0.0; + out_3389862186663429553[116] = 0.0; + out_3389862186663429553[117] = 0.0; + out_3389862186663429553[118] = 0.0; + out_3389862186663429553[119] = 0.0; + out_3389862186663429553[120] = 0.0; + out_3389862186663429553[121] = 0.0; + out_3389862186663429553[122] = 0.0; + out_3389862186663429553[123] = 0.0; + out_3389862186663429553[124] = 0.0; + out_3389862186663429553[125] = 0.0; + out_3389862186663429553[126] = 0.0; + out_3389862186663429553[127] = 0.0; + out_3389862186663429553[128] = 0.0; + out_3389862186663429553[129] = 0.0; + out_3389862186663429553[130] = 0.0; + out_3389862186663429553[131] = 0.0; + out_3389862186663429553[132] = 0.0; + out_3389862186663429553[133] = 1.0; + out_3389862186663429553[134] = 0.0; + out_3389862186663429553[135] = 0.0; + out_3389862186663429553[136] = 0.0; + out_3389862186663429553[137] = 0.0; + out_3389862186663429553[138] = 0.0; + out_3389862186663429553[139] = 0.0; + out_3389862186663429553[140] = 0.0; + out_3389862186663429553[141] = 0.0; + out_3389862186663429553[142] = 0.0; + out_3389862186663429553[143] = 0.0; + out_3389862186663429553[144] = 0.0; + out_3389862186663429553[145] = 0.0; + out_3389862186663429553[146] = 0.0; + out_3389862186663429553[147] = 0.0; + out_3389862186663429553[148] = 0.0; + out_3389862186663429553[149] = 0.0; + out_3389862186663429553[150] = 0.0; + out_3389862186663429553[151] = 0.0; + out_3389862186663429553[152] = 1.0; + out_3389862186663429553[153] = 0.0; + out_3389862186663429553[154] = 0.0; + out_3389862186663429553[155] = 0.0; + out_3389862186663429553[156] = 0.0; + out_3389862186663429553[157] = 0.0; + out_3389862186663429553[158] = 0.0; + out_3389862186663429553[159] = 0.0; + out_3389862186663429553[160] = 0.0; + out_3389862186663429553[161] = 0.0; + out_3389862186663429553[162] = 0.0; + out_3389862186663429553[163] = 0.0; + out_3389862186663429553[164] = 0.0; + out_3389862186663429553[165] = 0.0; + out_3389862186663429553[166] = 0.0; + out_3389862186663429553[167] = 0.0; + out_3389862186663429553[168] = 0.0; + out_3389862186663429553[169] = 0.0; + out_3389862186663429553[170] = 0.0; + out_3389862186663429553[171] = 1.0; + out_3389862186663429553[172] = 0.0; + out_3389862186663429553[173] = 0.0; + out_3389862186663429553[174] = 0.0; + out_3389862186663429553[175] = 0.0; + out_3389862186663429553[176] = 0.0; + out_3389862186663429553[177] = 0.0; + out_3389862186663429553[178] = 0.0; + out_3389862186663429553[179] = 0.0; + out_3389862186663429553[180] = 0.0; + out_3389862186663429553[181] = 0.0; + out_3389862186663429553[182] = 0.0; + out_3389862186663429553[183] = 0.0; + out_3389862186663429553[184] = 0.0; + out_3389862186663429553[185] = 0.0; + out_3389862186663429553[186] = 0.0; + out_3389862186663429553[187] = 0.0; + out_3389862186663429553[188] = 0.0; + out_3389862186663429553[189] = 0.0; + out_3389862186663429553[190] = 1.0; + out_3389862186663429553[191] = 0.0; + out_3389862186663429553[192] = 0.0; + out_3389862186663429553[193] = 0.0; + out_3389862186663429553[194] = 0.0; + out_3389862186663429553[195] = 0.0; + out_3389862186663429553[196] = 0.0; + out_3389862186663429553[197] = 0.0; + out_3389862186663429553[198] = 0.0; + out_3389862186663429553[199] = 0.0; + out_3389862186663429553[200] = 0.0; + out_3389862186663429553[201] = 0.0; + out_3389862186663429553[202] = 0.0; + out_3389862186663429553[203] = 0.0; + out_3389862186663429553[204] = 0.0; + out_3389862186663429553[205] = 0.0; + out_3389862186663429553[206] = 0.0; + out_3389862186663429553[207] = 0.0; + out_3389862186663429553[208] = 0.0; + out_3389862186663429553[209] = 1.0; + out_3389862186663429553[210] = 0.0; + out_3389862186663429553[211] = 0.0; + out_3389862186663429553[212] = 0.0; + out_3389862186663429553[213] = 0.0; + out_3389862186663429553[214] = 0.0; + out_3389862186663429553[215] = 0.0; + out_3389862186663429553[216] = 0.0; + out_3389862186663429553[217] = 0.0; + out_3389862186663429553[218] = 0.0; + out_3389862186663429553[219] = 0.0; + out_3389862186663429553[220] = 0.0; + out_3389862186663429553[221] = 0.0; + out_3389862186663429553[222] = 0.0; + out_3389862186663429553[223] = 0.0; + out_3389862186663429553[224] = 0.0; + out_3389862186663429553[225] = 0.0; + out_3389862186663429553[226] = 0.0; + out_3389862186663429553[227] = 0.0; + out_3389862186663429553[228] = 1.0; + out_3389862186663429553[229] = 0.0; + out_3389862186663429553[230] = 0.0; + out_3389862186663429553[231] = 0.0; + out_3389862186663429553[232] = 0.0; + out_3389862186663429553[233] = 0.0; + out_3389862186663429553[234] = 0.0; + out_3389862186663429553[235] = 0.0; + out_3389862186663429553[236] = 0.0; + out_3389862186663429553[237] = 0.0; + out_3389862186663429553[238] = 0.0; + out_3389862186663429553[239] = 0.0; + out_3389862186663429553[240] = 0.0; + out_3389862186663429553[241] = 0.0; + out_3389862186663429553[242] = 0.0; + out_3389862186663429553[243] = 0.0; + out_3389862186663429553[244] = 0.0; + out_3389862186663429553[245] = 0.0; + out_3389862186663429553[246] = 0.0; + out_3389862186663429553[247] = 1.0; + out_3389862186663429553[248] = 0.0; + out_3389862186663429553[249] = 0.0; + out_3389862186663429553[250] = 0.0; + out_3389862186663429553[251] = 0.0; + out_3389862186663429553[252] = 0.0; + out_3389862186663429553[253] = 0.0; + out_3389862186663429553[254] = 0.0; + out_3389862186663429553[255] = 0.0; + out_3389862186663429553[256] = 0.0; + out_3389862186663429553[257] = 0.0; + out_3389862186663429553[258] = 0.0; + out_3389862186663429553[259] = 0.0; + out_3389862186663429553[260] = 0.0; + out_3389862186663429553[261] = 0.0; + out_3389862186663429553[262] = 0.0; + out_3389862186663429553[263] = 0.0; + out_3389862186663429553[264] = 0.0; + out_3389862186663429553[265] = 0.0; + out_3389862186663429553[266] = 1.0; + out_3389862186663429553[267] = 0.0; + out_3389862186663429553[268] = 0.0; + out_3389862186663429553[269] = 0.0; + out_3389862186663429553[270] = 0.0; + out_3389862186663429553[271] = 0.0; + out_3389862186663429553[272] = 0.0; + out_3389862186663429553[273] = 0.0; + out_3389862186663429553[274] = 0.0; + out_3389862186663429553[275] = 0.0; + out_3389862186663429553[276] = 0.0; + out_3389862186663429553[277] = 0.0; + out_3389862186663429553[278] = 0.0; + out_3389862186663429553[279] = 0.0; + out_3389862186663429553[280] = 0.0; + out_3389862186663429553[281] = 0.0; + out_3389862186663429553[282] = 0.0; + out_3389862186663429553[283] = 0.0; + out_3389862186663429553[284] = 0.0; + out_3389862186663429553[285] = 1.0; + out_3389862186663429553[286] = 0.0; + out_3389862186663429553[287] = 0.0; + out_3389862186663429553[288] = 0.0; + out_3389862186663429553[289] = 0.0; + out_3389862186663429553[290] = 0.0; + out_3389862186663429553[291] = 0.0; + out_3389862186663429553[292] = 0.0; + out_3389862186663429553[293] = 0.0; + out_3389862186663429553[294] = 0.0; + out_3389862186663429553[295] = 0.0; + out_3389862186663429553[296] = 0.0; + out_3389862186663429553[297] = 0.0; + out_3389862186663429553[298] = 0.0; + out_3389862186663429553[299] = 0.0; + out_3389862186663429553[300] = 0.0; + out_3389862186663429553[301] = 0.0; + out_3389862186663429553[302] = 0.0; + out_3389862186663429553[303] = 0.0; + out_3389862186663429553[304] = 1.0; + out_3389862186663429553[305] = 0.0; + out_3389862186663429553[306] = 0.0; + out_3389862186663429553[307] = 0.0; + out_3389862186663429553[308] = 0.0; + out_3389862186663429553[309] = 0.0; + out_3389862186663429553[310] = 0.0; + out_3389862186663429553[311] = 0.0; + out_3389862186663429553[312] = 0.0; + out_3389862186663429553[313] = 0.0; + out_3389862186663429553[314] = 0.0; + out_3389862186663429553[315] = 0.0; + out_3389862186663429553[316] = 0.0; + out_3389862186663429553[317] = 0.0; + out_3389862186663429553[318] = 0.0; + out_3389862186663429553[319] = 0.0; + out_3389862186663429553[320] = 0.0; + out_3389862186663429553[321] = 0.0; + out_3389862186663429553[322] = 0.0; + out_3389862186663429553[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8224128290291442758) { - out_8224128290291442758[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_8224128290291442758[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_8224128290291442758[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_8224128290291442758[3] = dt*state[12] + state[3]; - out_8224128290291442758[4] = dt*state[13] + state[4]; - out_8224128290291442758[5] = dt*state[14] + state[5]; - out_8224128290291442758[6] = state[6]; - out_8224128290291442758[7] = state[7]; - out_8224128290291442758[8] = state[8]; - out_8224128290291442758[9] = state[9]; - out_8224128290291442758[10] = state[10]; - out_8224128290291442758[11] = state[11]; - out_8224128290291442758[12] = state[12]; - out_8224128290291442758[13] = state[13]; - out_8224128290291442758[14] = state[14]; - out_8224128290291442758[15] = state[15]; - out_8224128290291442758[16] = state[16]; - out_8224128290291442758[17] = state[17]; +void f_fun(double *state, double dt, double *out_4802700997878092668) { + out_4802700997878092668[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_4802700997878092668[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_4802700997878092668[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_4802700997878092668[3] = dt*state[12] + state[3]; + out_4802700997878092668[4] = dt*state[13] + state[4]; + out_4802700997878092668[5] = dt*state[14] + state[5]; + out_4802700997878092668[6] = state[6]; + out_4802700997878092668[7] = state[7]; + out_4802700997878092668[8] = state[8]; + out_4802700997878092668[9] = state[9]; + out_4802700997878092668[10] = state[10]; + out_4802700997878092668[11] = state[11]; + out_4802700997878092668[12] = state[12]; + out_4802700997878092668[13] = state[13]; + out_4802700997878092668[14] = state[14]; + out_4802700997878092668[15] = state[15]; + out_4802700997878092668[16] = state[16]; + out_4802700997878092668[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4173313334813114557) { - out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[2] = 0; - out_4173313334813114557[3] = 0; - out_4173313334813114557[4] = 0; - out_4173313334813114557[5] = 0; - out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[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_4173313334813114557[9] = 0; - out_4173313334813114557[10] = 0; - out_4173313334813114557[11] = 0; - out_4173313334813114557[12] = 0; - out_4173313334813114557[13] = 0; - out_4173313334813114557[14] = 0; - out_4173313334813114557[15] = 0; - out_4173313334813114557[16] = 0; - out_4173313334813114557[17] = 0; - out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[20] = 0; - out_4173313334813114557[21] = 0; - out_4173313334813114557[22] = 0; - out_4173313334813114557[23] = 0; - out_4173313334813114557[24] = 0; - out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[27] = 0; - out_4173313334813114557[28] = 0; - out_4173313334813114557[29] = 0; - out_4173313334813114557[30] = 0; - out_4173313334813114557[31] = 0; - out_4173313334813114557[32] = 0; - out_4173313334813114557[33] = 0; - out_4173313334813114557[34] = 0; - out_4173313334813114557[35] = 0; - out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[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_4173313334813114557[39] = 0; - out_4173313334813114557[40] = 0; - out_4173313334813114557[41] = 0; - out_4173313334813114557[42] = 0; - out_4173313334813114557[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_4173313334813114557[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_4173313334813114557[45] = 0; - out_4173313334813114557[46] = 0; - out_4173313334813114557[47] = 0; - out_4173313334813114557[48] = 0; - out_4173313334813114557[49] = 0; - out_4173313334813114557[50] = 0; - out_4173313334813114557[51] = 0; - out_4173313334813114557[52] = 0; - out_4173313334813114557[53] = 0; - out_4173313334813114557[54] = 0; - out_4173313334813114557[55] = 0; - out_4173313334813114557[56] = 0; - out_4173313334813114557[57] = 1; - out_4173313334813114557[58] = 0; - out_4173313334813114557[59] = 0; - out_4173313334813114557[60] = 0; - out_4173313334813114557[61] = 0; - out_4173313334813114557[62] = 0; - out_4173313334813114557[63] = 0; - out_4173313334813114557[64] = 0; - out_4173313334813114557[65] = 0; - out_4173313334813114557[66] = dt; - out_4173313334813114557[67] = 0; - out_4173313334813114557[68] = 0; - out_4173313334813114557[69] = 0; - out_4173313334813114557[70] = 0; - out_4173313334813114557[71] = 0; - out_4173313334813114557[72] = 0; - out_4173313334813114557[73] = 0; - out_4173313334813114557[74] = 0; - out_4173313334813114557[75] = 0; - out_4173313334813114557[76] = 1; - out_4173313334813114557[77] = 0; - out_4173313334813114557[78] = 0; - out_4173313334813114557[79] = 0; - out_4173313334813114557[80] = 0; - out_4173313334813114557[81] = 0; - out_4173313334813114557[82] = 0; - out_4173313334813114557[83] = 0; - out_4173313334813114557[84] = 0; - out_4173313334813114557[85] = dt; - out_4173313334813114557[86] = 0; - out_4173313334813114557[87] = 0; - out_4173313334813114557[88] = 0; - out_4173313334813114557[89] = 0; - out_4173313334813114557[90] = 0; - out_4173313334813114557[91] = 0; - out_4173313334813114557[92] = 0; - out_4173313334813114557[93] = 0; - out_4173313334813114557[94] = 0; - out_4173313334813114557[95] = 1; - out_4173313334813114557[96] = 0; - out_4173313334813114557[97] = 0; - out_4173313334813114557[98] = 0; - out_4173313334813114557[99] = 0; - out_4173313334813114557[100] = 0; - out_4173313334813114557[101] = 0; - out_4173313334813114557[102] = 0; - out_4173313334813114557[103] = 0; - out_4173313334813114557[104] = dt; - out_4173313334813114557[105] = 0; - out_4173313334813114557[106] = 0; - out_4173313334813114557[107] = 0; - out_4173313334813114557[108] = 0; - out_4173313334813114557[109] = 0; - out_4173313334813114557[110] = 0; - out_4173313334813114557[111] = 0; - out_4173313334813114557[112] = 0; - out_4173313334813114557[113] = 0; - out_4173313334813114557[114] = 1; - out_4173313334813114557[115] = 0; - out_4173313334813114557[116] = 0; - out_4173313334813114557[117] = 0; - out_4173313334813114557[118] = 0; - out_4173313334813114557[119] = 0; - out_4173313334813114557[120] = 0; - out_4173313334813114557[121] = 0; - out_4173313334813114557[122] = 0; - out_4173313334813114557[123] = 0; - out_4173313334813114557[124] = 0; - out_4173313334813114557[125] = 0; - out_4173313334813114557[126] = 0; - out_4173313334813114557[127] = 0; - out_4173313334813114557[128] = 0; - out_4173313334813114557[129] = 0; - out_4173313334813114557[130] = 0; - out_4173313334813114557[131] = 0; - out_4173313334813114557[132] = 0; - out_4173313334813114557[133] = 1; - out_4173313334813114557[134] = 0; - out_4173313334813114557[135] = 0; - out_4173313334813114557[136] = 0; - out_4173313334813114557[137] = 0; - out_4173313334813114557[138] = 0; - out_4173313334813114557[139] = 0; - out_4173313334813114557[140] = 0; - out_4173313334813114557[141] = 0; - out_4173313334813114557[142] = 0; - out_4173313334813114557[143] = 0; - out_4173313334813114557[144] = 0; - out_4173313334813114557[145] = 0; - out_4173313334813114557[146] = 0; - out_4173313334813114557[147] = 0; - out_4173313334813114557[148] = 0; - out_4173313334813114557[149] = 0; - out_4173313334813114557[150] = 0; - out_4173313334813114557[151] = 0; - out_4173313334813114557[152] = 1; - out_4173313334813114557[153] = 0; - out_4173313334813114557[154] = 0; - out_4173313334813114557[155] = 0; - out_4173313334813114557[156] = 0; - out_4173313334813114557[157] = 0; - out_4173313334813114557[158] = 0; - out_4173313334813114557[159] = 0; - out_4173313334813114557[160] = 0; - out_4173313334813114557[161] = 0; - out_4173313334813114557[162] = 0; - out_4173313334813114557[163] = 0; - out_4173313334813114557[164] = 0; - out_4173313334813114557[165] = 0; - out_4173313334813114557[166] = 0; - out_4173313334813114557[167] = 0; - out_4173313334813114557[168] = 0; - out_4173313334813114557[169] = 0; - out_4173313334813114557[170] = 0; - out_4173313334813114557[171] = 1; - out_4173313334813114557[172] = 0; - out_4173313334813114557[173] = 0; - out_4173313334813114557[174] = 0; - out_4173313334813114557[175] = 0; - out_4173313334813114557[176] = 0; - out_4173313334813114557[177] = 0; - out_4173313334813114557[178] = 0; - out_4173313334813114557[179] = 0; - out_4173313334813114557[180] = 0; - out_4173313334813114557[181] = 0; - out_4173313334813114557[182] = 0; - out_4173313334813114557[183] = 0; - out_4173313334813114557[184] = 0; - out_4173313334813114557[185] = 0; - out_4173313334813114557[186] = 0; - out_4173313334813114557[187] = 0; - out_4173313334813114557[188] = 0; - out_4173313334813114557[189] = 0; - out_4173313334813114557[190] = 1; - out_4173313334813114557[191] = 0; - out_4173313334813114557[192] = 0; - out_4173313334813114557[193] = 0; - out_4173313334813114557[194] = 0; - out_4173313334813114557[195] = 0; - out_4173313334813114557[196] = 0; - out_4173313334813114557[197] = 0; - out_4173313334813114557[198] = 0; - out_4173313334813114557[199] = 0; - out_4173313334813114557[200] = 0; - out_4173313334813114557[201] = 0; - out_4173313334813114557[202] = 0; - out_4173313334813114557[203] = 0; - out_4173313334813114557[204] = 0; - out_4173313334813114557[205] = 0; - out_4173313334813114557[206] = 0; - out_4173313334813114557[207] = 0; - out_4173313334813114557[208] = 0; - out_4173313334813114557[209] = 1; - out_4173313334813114557[210] = 0; - out_4173313334813114557[211] = 0; - out_4173313334813114557[212] = 0; - out_4173313334813114557[213] = 0; - out_4173313334813114557[214] = 0; - out_4173313334813114557[215] = 0; - out_4173313334813114557[216] = 0; - out_4173313334813114557[217] = 0; - out_4173313334813114557[218] = 0; - out_4173313334813114557[219] = 0; - out_4173313334813114557[220] = 0; - out_4173313334813114557[221] = 0; - out_4173313334813114557[222] = 0; - out_4173313334813114557[223] = 0; - out_4173313334813114557[224] = 0; - out_4173313334813114557[225] = 0; - out_4173313334813114557[226] = 0; - out_4173313334813114557[227] = 0; - out_4173313334813114557[228] = 1; - out_4173313334813114557[229] = 0; - out_4173313334813114557[230] = 0; - out_4173313334813114557[231] = 0; - out_4173313334813114557[232] = 0; - out_4173313334813114557[233] = 0; - out_4173313334813114557[234] = 0; - out_4173313334813114557[235] = 0; - out_4173313334813114557[236] = 0; - out_4173313334813114557[237] = 0; - out_4173313334813114557[238] = 0; - out_4173313334813114557[239] = 0; - out_4173313334813114557[240] = 0; - out_4173313334813114557[241] = 0; - out_4173313334813114557[242] = 0; - out_4173313334813114557[243] = 0; - out_4173313334813114557[244] = 0; - out_4173313334813114557[245] = 0; - out_4173313334813114557[246] = 0; - out_4173313334813114557[247] = 1; - out_4173313334813114557[248] = 0; - out_4173313334813114557[249] = 0; - out_4173313334813114557[250] = 0; - out_4173313334813114557[251] = 0; - out_4173313334813114557[252] = 0; - out_4173313334813114557[253] = 0; - out_4173313334813114557[254] = 0; - out_4173313334813114557[255] = 0; - out_4173313334813114557[256] = 0; - out_4173313334813114557[257] = 0; - out_4173313334813114557[258] = 0; - out_4173313334813114557[259] = 0; - out_4173313334813114557[260] = 0; - out_4173313334813114557[261] = 0; - out_4173313334813114557[262] = 0; - out_4173313334813114557[263] = 0; - out_4173313334813114557[264] = 0; - out_4173313334813114557[265] = 0; - out_4173313334813114557[266] = 1; - out_4173313334813114557[267] = 0; - out_4173313334813114557[268] = 0; - out_4173313334813114557[269] = 0; - out_4173313334813114557[270] = 0; - out_4173313334813114557[271] = 0; - out_4173313334813114557[272] = 0; - out_4173313334813114557[273] = 0; - out_4173313334813114557[274] = 0; - out_4173313334813114557[275] = 0; - out_4173313334813114557[276] = 0; - out_4173313334813114557[277] = 0; - out_4173313334813114557[278] = 0; - out_4173313334813114557[279] = 0; - out_4173313334813114557[280] = 0; - out_4173313334813114557[281] = 0; - out_4173313334813114557[282] = 0; - out_4173313334813114557[283] = 0; - out_4173313334813114557[284] = 0; - out_4173313334813114557[285] = 1; - out_4173313334813114557[286] = 0; - out_4173313334813114557[287] = 0; - out_4173313334813114557[288] = 0; - out_4173313334813114557[289] = 0; - out_4173313334813114557[290] = 0; - out_4173313334813114557[291] = 0; - out_4173313334813114557[292] = 0; - out_4173313334813114557[293] = 0; - out_4173313334813114557[294] = 0; - out_4173313334813114557[295] = 0; - out_4173313334813114557[296] = 0; - out_4173313334813114557[297] = 0; - out_4173313334813114557[298] = 0; - out_4173313334813114557[299] = 0; - out_4173313334813114557[300] = 0; - out_4173313334813114557[301] = 0; - out_4173313334813114557[302] = 0; - out_4173313334813114557[303] = 0; - out_4173313334813114557[304] = 1; - out_4173313334813114557[305] = 0; - out_4173313334813114557[306] = 0; - out_4173313334813114557[307] = 0; - out_4173313334813114557[308] = 0; - out_4173313334813114557[309] = 0; - out_4173313334813114557[310] = 0; - out_4173313334813114557[311] = 0; - out_4173313334813114557[312] = 0; - out_4173313334813114557[313] = 0; - out_4173313334813114557[314] = 0; - out_4173313334813114557[315] = 0; - out_4173313334813114557[316] = 0; - out_4173313334813114557[317] = 0; - out_4173313334813114557[318] = 0; - out_4173313334813114557[319] = 0; - out_4173313334813114557[320] = 0; - out_4173313334813114557[321] = 0; - out_4173313334813114557[322] = 0; - out_4173313334813114557[323] = 1; +void F_fun(double *state, double dt, double *out_8725044315227912670) { + out_8725044315227912670[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_8725044315227912670[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_8725044315227912670[2] = 0; + out_8725044315227912670[3] = 0; + out_8725044315227912670[4] = 0; + out_8725044315227912670[5] = 0; + out_8725044315227912670[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_8725044315227912670[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_8725044315227912670[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_8725044315227912670[9] = 0; + out_8725044315227912670[10] = 0; + out_8725044315227912670[11] = 0; + out_8725044315227912670[12] = 0; + out_8725044315227912670[13] = 0; + out_8725044315227912670[14] = 0; + out_8725044315227912670[15] = 0; + out_8725044315227912670[16] = 0; + out_8725044315227912670[17] = 0; + out_8725044315227912670[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_8725044315227912670[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_8725044315227912670[20] = 0; + out_8725044315227912670[21] = 0; + out_8725044315227912670[22] = 0; + out_8725044315227912670[23] = 0; + out_8725044315227912670[24] = 0; + out_8725044315227912670[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_8725044315227912670[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_8725044315227912670[27] = 0; + out_8725044315227912670[28] = 0; + out_8725044315227912670[29] = 0; + out_8725044315227912670[30] = 0; + out_8725044315227912670[31] = 0; + out_8725044315227912670[32] = 0; + out_8725044315227912670[33] = 0; + out_8725044315227912670[34] = 0; + out_8725044315227912670[35] = 0; + out_8725044315227912670[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_8725044315227912670[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_8725044315227912670[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_8725044315227912670[39] = 0; + out_8725044315227912670[40] = 0; + out_8725044315227912670[41] = 0; + out_8725044315227912670[42] = 0; + out_8725044315227912670[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_8725044315227912670[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_8725044315227912670[45] = 0; + out_8725044315227912670[46] = 0; + out_8725044315227912670[47] = 0; + out_8725044315227912670[48] = 0; + out_8725044315227912670[49] = 0; + out_8725044315227912670[50] = 0; + out_8725044315227912670[51] = 0; + out_8725044315227912670[52] = 0; + out_8725044315227912670[53] = 0; + out_8725044315227912670[54] = 0; + out_8725044315227912670[55] = 0; + out_8725044315227912670[56] = 0; + out_8725044315227912670[57] = 1; + out_8725044315227912670[58] = 0; + out_8725044315227912670[59] = 0; + out_8725044315227912670[60] = 0; + out_8725044315227912670[61] = 0; + out_8725044315227912670[62] = 0; + out_8725044315227912670[63] = 0; + out_8725044315227912670[64] = 0; + out_8725044315227912670[65] = 0; + out_8725044315227912670[66] = dt; + out_8725044315227912670[67] = 0; + out_8725044315227912670[68] = 0; + out_8725044315227912670[69] = 0; + out_8725044315227912670[70] = 0; + out_8725044315227912670[71] = 0; + out_8725044315227912670[72] = 0; + out_8725044315227912670[73] = 0; + out_8725044315227912670[74] = 0; + out_8725044315227912670[75] = 0; + out_8725044315227912670[76] = 1; + out_8725044315227912670[77] = 0; + out_8725044315227912670[78] = 0; + out_8725044315227912670[79] = 0; + out_8725044315227912670[80] = 0; + out_8725044315227912670[81] = 0; + out_8725044315227912670[82] = 0; + out_8725044315227912670[83] = 0; + out_8725044315227912670[84] = 0; + out_8725044315227912670[85] = dt; + out_8725044315227912670[86] = 0; + out_8725044315227912670[87] = 0; + out_8725044315227912670[88] = 0; + out_8725044315227912670[89] = 0; + out_8725044315227912670[90] = 0; + out_8725044315227912670[91] = 0; + out_8725044315227912670[92] = 0; + out_8725044315227912670[93] = 0; + out_8725044315227912670[94] = 0; + out_8725044315227912670[95] = 1; + out_8725044315227912670[96] = 0; + out_8725044315227912670[97] = 0; + out_8725044315227912670[98] = 0; + out_8725044315227912670[99] = 0; + out_8725044315227912670[100] = 0; + out_8725044315227912670[101] = 0; + out_8725044315227912670[102] = 0; + out_8725044315227912670[103] = 0; + out_8725044315227912670[104] = dt; + out_8725044315227912670[105] = 0; + out_8725044315227912670[106] = 0; + out_8725044315227912670[107] = 0; + out_8725044315227912670[108] = 0; + out_8725044315227912670[109] = 0; + out_8725044315227912670[110] = 0; + out_8725044315227912670[111] = 0; + out_8725044315227912670[112] = 0; + out_8725044315227912670[113] = 0; + out_8725044315227912670[114] = 1; + out_8725044315227912670[115] = 0; + out_8725044315227912670[116] = 0; + out_8725044315227912670[117] = 0; + out_8725044315227912670[118] = 0; + out_8725044315227912670[119] = 0; + out_8725044315227912670[120] = 0; + out_8725044315227912670[121] = 0; + out_8725044315227912670[122] = 0; + out_8725044315227912670[123] = 0; + out_8725044315227912670[124] = 0; + out_8725044315227912670[125] = 0; + out_8725044315227912670[126] = 0; + out_8725044315227912670[127] = 0; + out_8725044315227912670[128] = 0; + out_8725044315227912670[129] = 0; + out_8725044315227912670[130] = 0; + out_8725044315227912670[131] = 0; + out_8725044315227912670[132] = 0; + out_8725044315227912670[133] = 1; + out_8725044315227912670[134] = 0; + out_8725044315227912670[135] = 0; + out_8725044315227912670[136] = 0; + out_8725044315227912670[137] = 0; + out_8725044315227912670[138] = 0; + out_8725044315227912670[139] = 0; + out_8725044315227912670[140] = 0; + out_8725044315227912670[141] = 0; + out_8725044315227912670[142] = 0; + out_8725044315227912670[143] = 0; + out_8725044315227912670[144] = 0; + out_8725044315227912670[145] = 0; + out_8725044315227912670[146] = 0; + out_8725044315227912670[147] = 0; + out_8725044315227912670[148] = 0; + out_8725044315227912670[149] = 0; + out_8725044315227912670[150] = 0; + out_8725044315227912670[151] = 0; + out_8725044315227912670[152] = 1; + out_8725044315227912670[153] = 0; + out_8725044315227912670[154] = 0; + out_8725044315227912670[155] = 0; + out_8725044315227912670[156] = 0; + out_8725044315227912670[157] = 0; + out_8725044315227912670[158] = 0; + out_8725044315227912670[159] = 0; + out_8725044315227912670[160] = 0; + out_8725044315227912670[161] = 0; + out_8725044315227912670[162] = 0; + out_8725044315227912670[163] = 0; + out_8725044315227912670[164] = 0; + out_8725044315227912670[165] = 0; + out_8725044315227912670[166] = 0; + out_8725044315227912670[167] = 0; + out_8725044315227912670[168] = 0; + out_8725044315227912670[169] = 0; + out_8725044315227912670[170] = 0; + out_8725044315227912670[171] = 1; + out_8725044315227912670[172] = 0; + out_8725044315227912670[173] = 0; + out_8725044315227912670[174] = 0; + out_8725044315227912670[175] = 0; + out_8725044315227912670[176] = 0; + out_8725044315227912670[177] = 0; + out_8725044315227912670[178] = 0; + out_8725044315227912670[179] = 0; + out_8725044315227912670[180] = 0; + out_8725044315227912670[181] = 0; + out_8725044315227912670[182] = 0; + out_8725044315227912670[183] = 0; + out_8725044315227912670[184] = 0; + out_8725044315227912670[185] = 0; + out_8725044315227912670[186] = 0; + out_8725044315227912670[187] = 0; + out_8725044315227912670[188] = 0; + out_8725044315227912670[189] = 0; + out_8725044315227912670[190] = 1; + out_8725044315227912670[191] = 0; + out_8725044315227912670[192] = 0; + out_8725044315227912670[193] = 0; + out_8725044315227912670[194] = 0; + out_8725044315227912670[195] = 0; + out_8725044315227912670[196] = 0; + out_8725044315227912670[197] = 0; + out_8725044315227912670[198] = 0; + out_8725044315227912670[199] = 0; + out_8725044315227912670[200] = 0; + out_8725044315227912670[201] = 0; + out_8725044315227912670[202] = 0; + out_8725044315227912670[203] = 0; + out_8725044315227912670[204] = 0; + out_8725044315227912670[205] = 0; + out_8725044315227912670[206] = 0; + out_8725044315227912670[207] = 0; + out_8725044315227912670[208] = 0; + out_8725044315227912670[209] = 1; + out_8725044315227912670[210] = 0; + out_8725044315227912670[211] = 0; + out_8725044315227912670[212] = 0; + out_8725044315227912670[213] = 0; + out_8725044315227912670[214] = 0; + out_8725044315227912670[215] = 0; + out_8725044315227912670[216] = 0; + out_8725044315227912670[217] = 0; + out_8725044315227912670[218] = 0; + out_8725044315227912670[219] = 0; + out_8725044315227912670[220] = 0; + out_8725044315227912670[221] = 0; + out_8725044315227912670[222] = 0; + out_8725044315227912670[223] = 0; + out_8725044315227912670[224] = 0; + out_8725044315227912670[225] = 0; + out_8725044315227912670[226] = 0; + out_8725044315227912670[227] = 0; + out_8725044315227912670[228] = 1; + out_8725044315227912670[229] = 0; + out_8725044315227912670[230] = 0; + out_8725044315227912670[231] = 0; + out_8725044315227912670[232] = 0; + out_8725044315227912670[233] = 0; + out_8725044315227912670[234] = 0; + out_8725044315227912670[235] = 0; + out_8725044315227912670[236] = 0; + out_8725044315227912670[237] = 0; + out_8725044315227912670[238] = 0; + out_8725044315227912670[239] = 0; + out_8725044315227912670[240] = 0; + out_8725044315227912670[241] = 0; + out_8725044315227912670[242] = 0; + out_8725044315227912670[243] = 0; + out_8725044315227912670[244] = 0; + out_8725044315227912670[245] = 0; + out_8725044315227912670[246] = 0; + out_8725044315227912670[247] = 1; + out_8725044315227912670[248] = 0; + out_8725044315227912670[249] = 0; + out_8725044315227912670[250] = 0; + out_8725044315227912670[251] = 0; + out_8725044315227912670[252] = 0; + out_8725044315227912670[253] = 0; + out_8725044315227912670[254] = 0; + out_8725044315227912670[255] = 0; + out_8725044315227912670[256] = 0; + out_8725044315227912670[257] = 0; + out_8725044315227912670[258] = 0; + out_8725044315227912670[259] = 0; + out_8725044315227912670[260] = 0; + out_8725044315227912670[261] = 0; + out_8725044315227912670[262] = 0; + out_8725044315227912670[263] = 0; + out_8725044315227912670[264] = 0; + out_8725044315227912670[265] = 0; + out_8725044315227912670[266] = 1; + out_8725044315227912670[267] = 0; + out_8725044315227912670[268] = 0; + out_8725044315227912670[269] = 0; + out_8725044315227912670[270] = 0; + out_8725044315227912670[271] = 0; + out_8725044315227912670[272] = 0; + out_8725044315227912670[273] = 0; + out_8725044315227912670[274] = 0; + out_8725044315227912670[275] = 0; + out_8725044315227912670[276] = 0; + out_8725044315227912670[277] = 0; + out_8725044315227912670[278] = 0; + out_8725044315227912670[279] = 0; + out_8725044315227912670[280] = 0; + out_8725044315227912670[281] = 0; + out_8725044315227912670[282] = 0; + out_8725044315227912670[283] = 0; + out_8725044315227912670[284] = 0; + out_8725044315227912670[285] = 1; + out_8725044315227912670[286] = 0; + out_8725044315227912670[287] = 0; + out_8725044315227912670[288] = 0; + out_8725044315227912670[289] = 0; + out_8725044315227912670[290] = 0; + out_8725044315227912670[291] = 0; + out_8725044315227912670[292] = 0; + out_8725044315227912670[293] = 0; + out_8725044315227912670[294] = 0; + out_8725044315227912670[295] = 0; + out_8725044315227912670[296] = 0; + out_8725044315227912670[297] = 0; + out_8725044315227912670[298] = 0; + out_8725044315227912670[299] = 0; + out_8725044315227912670[300] = 0; + out_8725044315227912670[301] = 0; + out_8725044315227912670[302] = 0; + out_8725044315227912670[303] = 0; + out_8725044315227912670[304] = 1; + out_8725044315227912670[305] = 0; + out_8725044315227912670[306] = 0; + out_8725044315227912670[307] = 0; + out_8725044315227912670[308] = 0; + out_8725044315227912670[309] = 0; + out_8725044315227912670[310] = 0; + out_8725044315227912670[311] = 0; + out_8725044315227912670[312] = 0; + out_8725044315227912670[313] = 0; + out_8725044315227912670[314] = 0; + out_8725044315227912670[315] = 0; + out_8725044315227912670[316] = 0; + out_8725044315227912670[317] = 0; + out_8725044315227912670[318] = 0; + out_8725044315227912670[319] = 0; + out_8725044315227912670[320] = 0; + out_8725044315227912670[321] = 0; + out_8725044315227912670[322] = 0; + out_8725044315227912670[323] = 1; } -void h_4(double *state, double *unused, double *out_8461717180408587044) { - out_8461717180408587044[0] = state[6] + state[9]; - out_8461717180408587044[1] = state[7] + state[10]; - out_8461717180408587044[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_1359340648735360631) { + out_1359340648735360631[0] = state[6] + state[9]; + out_1359340648735360631[1] = state[7] + state[10]; + out_1359340648735360631[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2172840103804638259) { - out_2172840103804638259[0] = 0; - out_2172840103804638259[1] = 0; - out_2172840103804638259[2] = 0; - out_2172840103804638259[3] = 0; - out_2172840103804638259[4] = 0; - out_2172840103804638259[5] = 0; - out_2172840103804638259[6] = 1; - out_2172840103804638259[7] = 0; - out_2172840103804638259[8] = 0; - out_2172840103804638259[9] = 1; - out_2172840103804638259[10] = 0; - out_2172840103804638259[11] = 0; - out_2172840103804638259[12] = 0; - out_2172840103804638259[13] = 0; - out_2172840103804638259[14] = 0; - out_2172840103804638259[15] = 0; - out_2172840103804638259[16] = 0; - out_2172840103804638259[17] = 0; - out_2172840103804638259[18] = 0; - out_2172840103804638259[19] = 0; - out_2172840103804638259[20] = 0; - out_2172840103804638259[21] = 0; - out_2172840103804638259[22] = 0; - out_2172840103804638259[23] = 0; - out_2172840103804638259[24] = 0; - out_2172840103804638259[25] = 1; - out_2172840103804638259[26] = 0; - out_2172840103804638259[27] = 0; - out_2172840103804638259[28] = 1; - out_2172840103804638259[29] = 0; - out_2172840103804638259[30] = 0; - out_2172840103804638259[31] = 0; - out_2172840103804638259[32] = 0; - out_2172840103804638259[33] = 0; - out_2172840103804638259[34] = 0; - out_2172840103804638259[35] = 0; - out_2172840103804638259[36] = 0; - out_2172840103804638259[37] = 0; - out_2172840103804638259[38] = 0; - out_2172840103804638259[39] = 0; - out_2172840103804638259[40] = 0; - out_2172840103804638259[41] = 0; - out_2172840103804638259[42] = 0; - out_2172840103804638259[43] = 0; - out_2172840103804638259[44] = 1; - out_2172840103804638259[45] = 0; - out_2172840103804638259[46] = 0; - out_2172840103804638259[47] = 1; - out_2172840103804638259[48] = 0; - out_2172840103804638259[49] = 0; - out_2172840103804638259[50] = 0; - out_2172840103804638259[51] = 0; - out_2172840103804638259[52] = 0; - out_2172840103804638259[53] = 0; +void H_4(double *state, double *unused, double *out_4587809668546327657) { + out_4587809668546327657[0] = 0; + out_4587809668546327657[1] = 0; + out_4587809668546327657[2] = 0; + out_4587809668546327657[3] = 0; + out_4587809668546327657[4] = 0; + out_4587809668546327657[5] = 0; + out_4587809668546327657[6] = 1; + out_4587809668546327657[7] = 0; + out_4587809668546327657[8] = 0; + out_4587809668546327657[9] = 1; + out_4587809668546327657[10] = 0; + out_4587809668546327657[11] = 0; + out_4587809668546327657[12] = 0; + out_4587809668546327657[13] = 0; + out_4587809668546327657[14] = 0; + out_4587809668546327657[15] = 0; + out_4587809668546327657[16] = 0; + out_4587809668546327657[17] = 0; + out_4587809668546327657[18] = 0; + out_4587809668546327657[19] = 0; + out_4587809668546327657[20] = 0; + out_4587809668546327657[21] = 0; + out_4587809668546327657[22] = 0; + out_4587809668546327657[23] = 0; + out_4587809668546327657[24] = 0; + out_4587809668546327657[25] = 1; + out_4587809668546327657[26] = 0; + out_4587809668546327657[27] = 0; + out_4587809668546327657[28] = 1; + out_4587809668546327657[29] = 0; + out_4587809668546327657[30] = 0; + out_4587809668546327657[31] = 0; + out_4587809668546327657[32] = 0; + out_4587809668546327657[33] = 0; + out_4587809668546327657[34] = 0; + out_4587809668546327657[35] = 0; + out_4587809668546327657[36] = 0; + out_4587809668546327657[37] = 0; + out_4587809668546327657[38] = 0; + out_4587809668546327657[39] = 0; + out_4587809668546327657[40] = 0; + out_4587809668546327657[41] = 0; + out_4587809668546327657[42] = 0; + out_4587809668546327657[43] = 0; + out_4587809668546327657[44] = 1; + out_4587809668546327657[45] = 0; + out_4587809668546327657[46] = 0; + out_4587809668546327657[47] = 1; + out_4587809668546327657[48] = 0; + out_4587809668546327657[49] = 0; + out_4587809668546327657[50] = 0; + out_4587809668546327657[51] = 0; + out_4587809668546327657[52] = 0; + out_4587809668546327657[53] = 0; } -void h_10(double *state, double *unused, double *out_2633265206766799101) { - out_2633265206766799101[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_2633265206766799101[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_2633265206766799101[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_6036145492114111302) { + out_6036145492114111302[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6036145492114111302[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6036145492114111302[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_3904041767468690216) { - out_3904041767468690216[0] = 0; - out_3904041767468690216[1] = 9.8100000000000005*cos(state[1]); - out_3904041767468690216[2] = 0; - out_3904041767468690216[3] = 0; - out_3904041767468690216[4] = -state[8]; - out_3904041767468690216[5] = state[7]; - out_3904041767468690216[6] = 0; - out_3904041767468690216[7] = state[5]; - out_3904041767468690216[8] = -state[4]; - out_3904041767468690216[9] = 0; - out_3904041767468690216[10] = 0; - out_3904041767468690216[11] = 0; - out_3904041767468690216[12] = 1; - out_3904041767468690216[13] = 0; - out_3904041767468690216[14] = 0; - out_3904041767468690216[15] = 1; - out_3904041767468690216[16] = 0; - out_3904041767468690216[17] = 0; - out_3904041767468690216[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3904041767468690216[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3904041767468690216[20] = 0; - out_3904041767468690216[21] = state[8]; - out_3904041767468690216[22] = 0; - out_3904041767468690216[23] = -state[6]; - out_3904041767468690216[24] = -state[5]; - out_3904041767468690216[25] = 0; - out_3904041767468690216[26] = state[3]; - out_3904041767468690216[27] = 0; - out_3904041767468690216[28] = 0; - out_3904041767468690216[29] = 0; - out_3904041767468690216[30] = 0; - out_3904041767468690216[31] = 1; - out_3904041767468690216[32] = 0; - out_3904041767468690216[33] = 0; - out_3904041767468690216[34] = 1; - out_3904041767468690216[35] = 0; - out_3904041767468690216[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3904041767468690216[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3904041767468690216[38] = 0; - out_3904041767468690216[39] = -state[7]; - out_3904041767468690216[40] = state[6]; - out_3904041767468690216[41] = 0; - out_3904041767468690216[42] = state[4]; - out_3904041767468690216[43] = -state[3]; - out_3904041767468690216[44] = 0; - out_3904041767468690216[45] = 0; - out_3904041767468690216[46] = 0; - out_3904041767468690216[47] = 0; - out_3904041767468690216[48] = 0; - out_3904041767468690216[49] = 0; - out_3904041767468690216[50] = 1; - out_3904041767468690216[51] = 0; - out_3904041767468690216[52] = 0; - out_3904041767468690216[53] = 1; +void H_10(double *state, double *unused, double *out_7466880812702133914) { + out_7466880812702133914[0] = 0; + out_7466880812702133914[1] = 9.8100000000000005*cos(state[1]); + out_7466880812702133914[2] = 0; + out_7466880812702133914[3] = 0; + out_7466880812702133914[4] = -state[8]; + out_7466880812702133914[5] = state[7]; + out_7466880812702133914[6] = 0; + out_7466880812702133914[7] = state[5]; + out_7466880812702133914[8] = -state[4]; + out_7466880812702133914[9] = 0; + out_7466880812702133914[10] = 0; + out_7466880812702133914[11] = 0; + out_7466880812702133914[12] = 1; + out_7466880812702133914[13] = 0; + out_7466880812702133914[14] = 0; + out_7466880812702133914[15] = 1; + out_7466880812702133914[16] = 0; + out_7466880812702133914[17] = 0; + out_7466880812702133914[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7466880812702133914[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7466880812702133914[20] = 0; + out_7466880812702133914[21] = state[8]; + out_7466880812702133914[22] = 0; + out_7466880812702133914[23] = -state[6]; + out_7466880812702133914[24] = -state[5]; + out_7466880812702133914[25] = 0; + out_7466880812702133914[26] = state[3]; + out_7466880812702133914[27] = 0; + out_7466880812702133914[28] = 0; + out_7466880812702133914[29] = 0; + out_7466880812702133914[30] = 0; + out_7466880812702133914[31] = 1; + out_7466880812702133914[32] = 0; + out_7466880812702133914[33] = 0; + out_7466880812702133914[34] = 1; + out_7466880812702133914[35] = 0; + out_7466880812702133914[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7466880812702133914[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7466880812702133914[38] = 0; + out_7466880812702133914[39] = -state[7]; + out_7466880812702133914[40] = state[6]; + out_7466880812702133914[41] = 0; + out_7466880812702133914[42] = state[4]; + out_7466880812702133914[43] = -state[3]; + out_7466880812702133914[44] = 0; + out_7466880812702133914[45] = 0; + out_7466880812702133914[46] = 0; + out_7466880812702133914[47] = 0; + out_7466880812702133914[48] = 0; + out_7466880812702133914[49] = 0; + out_7466880812702133914[50] = 1; + out_7466880812702133914[51] = 0; + out_7466880812702133914[52] = 0; + out_7466880812702133914[53] = 1; } -void h_13(double *state, double *unused, double *out_3680645971147336893) { - out_3680645971147336893[0] = state[3]; - out_3680645971147336893[1] = state[4]; - out_3680645971147336893[2] = state[5]; +void h_13(double *state, double *unused, double *out_863073697323037062) { + out_863073697323037062[0] = state[3]; + out_863073697323037062[1] = state[4]; + out_863073697323037062[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5385113929136971060) { - out_5385113929136971060[0] = 0; - out_5385113929136971060[1] = 0; - out_5385113929136971060[2] = 0; - out_5385113929136971060[3] = 1; - out_5385113929136971060[4] = 0; - out_5385113929136971060[5] = 0; - out_5385113929136971060[6] = 0; - out_5385113929136971060[7] = 0; - out_5385113929136971060[8] = 0; - out_5385113929136971060[9] = 0; - out_5385113929136971060[10] = 0; - out_5385113929136971060[11] = 0; - out_5385113929136971060[12] = 0; - out_5385113929136971060[13] = 0; - out_5385113929136971060[14] = 0; - out_5385113929136971060[15] = 0; - out_5385113929136971060[16] = 0; - out_5385113929136971060[17] = 0; - out_5385113929136971060[18] = 0; - out_5385113929136971060[19] = 0; - out_5385113929136971060[20] = 0; - out_5385113929136971060[21] = 0; - out_5385113929136971060[22] = 1; - out_5385113929136971060[23] = 0; - out_5385113929136971060[24] = 0; - out_5385113929136971060[25] = 0; - out_5385113929136971060[26] = 0; - out_5385113929136971060[27] = 0; - out_5385113929136971060[28] = 0; - out_5385113929136971060[29] = 0; - out_5385113929136971060[30] = 0; - out_5385113929136971060[31] = 0; - out_5385113929136971060[32] = 0; - out_5385113929136971060[33] = 0; - out_5385113929136971060[34] = 0; - out_5385113929136971060[35] = 0; - out_5385113929136971060[36] = 0; - out_5385113929136971060[37] = 0; - out_5385113929136971060[38] = 0; - out_5385113929136971060[39] = 0; - out_5385113929136971060[40] = 0; - out_5385113929136971060[41] = 1; - out_5385113929136971060[42] = 0; - out_5385113929136971060[43] = 0; - out_5385113929136971060[44] = 0; - out_5385113929136971060[45] = 0; - out_5385113929136971060[46] = 0; - out_5385113929136971060[47] = 0; - out_5385113929136971060[48] = 0; - out_5385113929136971060[49] = 0; - out_5385113929136971060[50] = 0; - out_5385113929136971060[51] = 0; - out_5385113929136971060[52] = 0; - out_5385113929136971060[53] = 0; +void H_13(double *state, double *unused, double *out_7800083493878660458) { + out_7800083493878660458[0] = 0; + out_7800083493878660458[1] = 0; + out_7800083493878660458[2] = 0; + out_7800083493878660458[3] = 1; + out_7800083493878660458[4] = 0; + out_7800083493878660458[5] = 0; + out_7800083493878660458[6] = 0; + out_7800083493878660458[7] = 0; + out_7800083493878660458[8] = 0; + out_7800083493878660458[9] = 0; + out_7800083493878660458[10] = 0; + out_7800083493878660458[11] = 0; + out_7800083493878660458[12] = 0; + out_7800083493878660458[13] = 0; + out_7800083493878660458[14] = 0; + out_7800083493878660458[15] = 0; + out_7800083493878660458[16] = 0; + out_7800083493878660458[17] = 0; + out_7800083493878660458[18] = 0; + out_7800083493878660458[19] = 0; + out_7800083493878660458[20] = 0; + out_7800083493878660458[21] = 0; + out_7800083493878660458[22] = 1; + out_7800083493878660458[23] = 0; + out_7800083493878660458[24] = 0; + out_7800083493878660458[25] = 0; + out_7800083493878660458[26] = 0; + out_7800083493878660458[27] = 0; + out_7800083493878660458[28] = 0; + out_7800083493878660458[29] = 0; + out_7800083493878660458[30] = 0; + out_7800083493878660458[31] = 0; + out_7800083493878660458[32] = 0; + out_7800083493878660458[33] = 0; + out_7800083493878660458[34] = 0; + out_7800083493878660458[35] = 0; + out_7800083493878660458[36] = 0; + out_7800083493878660458[37] = 0; + out_7800083493878660458[38] = 0; + out_7800083493878660458[39] = 0; + out_7800083493878660458[40] = 0; + out_7800083493878660458[41] = 1; + out_7800083493878660458[42] = 0; + out_7800083493878660458[43] = 0; + out_7800083493878660458[44] = 0; + out_7800083493878660458[45] = 0; + out_7800083493878660458[46] = 0; + out_7800083493878660458[47] = 0; + out_7800083493878660458[48] = 0; + out_7800083493878660458[49] = 0; + out_7800083493878660458[50] = 0; + out_7800083493878660458[51] = 0; + out_7800083493878660458[52] = 0; + out_7800083493878660458[53] = 0; } -void h_14(double *state, double *unused, double *out_5848550976228580590) { - out_5848550976228580590[0] = state[6]; - out_5848550976228580590[1] = state[7]; - out_5848550976228580590[2] = state[8]; +void h_14(double *state, double *unused, double *out_1770197321873156194) { + out_1770197321873156194[0] = state[6]; + out_1770197321873156194[1] = state[7]; + out_1770197321873156194[2] = state[8]; } -void H_14(double *state, double *unused, double *out_909948328490734037) { - out_909948328490734037[0] = 0; - out_909948328490734037[1] = 0; - out_909948328490734037[2] = 0; - out_909948328490734037[3] = 0; - out_909948328490734037[4] = 0; - out_909948328490734037[5] = 0; - out_909948328490734037[6] = 1; - out_909948328490734037[7] = 0; - out_909948328490734037[8] = 0; - out_909948328490734037[9] = 0; - out_909948328490734037[10] = 0; - out_909948328490734037[11] = 0; - out_909948328490734037[12] = 0; - out_909948328490734037[13] = 0; - out_909948328490734037[14] = 0; - out_909948328490734037[15] = 0; - out_909948328490734037[16] = 0; - out_909948328490734037[17] = 0; - out_909948328490734037[18] = 0; - out_909948328490734037[19] = 0; - out_909948328490734037[20] = 0; - out_909948328490734037[21] = 0; - out_909948328490734037[22] = 0; - out_909948328490734037[23] = 0; - out_909948328490734037[24] = 0; - out_909948328490734037[25] = 1; - out_909948328490734037[26] = 0; - out_909948328490734037[27] = 0; - out_909948328490734037[28] = 0; - out_909948328490734037[29] = 0; - out_909948328490734037[30] = 0; - out_909948328490734037[31] = 0; - out_909948328490734037[32] = 0; - out_909948328490734037[33] = 0; - out_909948328490734037[34] = 0; - out_909948328490734037[35] = 0; - out_909948328490734037[36] = 0; - out_909948328490734037[37] = 0; - out_909948328490734037[38] = 0; - out_909948328490734037[39] = 0; - out_909948328490734037[40] = 0; - out_909948328490734037[41] = 0; - out_909948328490734037[42] = 0; - out_909948328490734037[43] = 0; - out_909948328490734037[44] = 1; - out_909948328490734037[45] = 0; - out_909948328490734037[46] = 0; - out_909948328490734037[47] = 0; - out_909948328490734037[48] = 0; - out_909948328490734037[49] = 0; - out_909948328490734037[50] = 0; - out_909948328490734037[51] = 0; - out_909948328490734037[52] = 0; - out_909948328490734037[53] = 0; +void H_14(double *state, double *unused, double *out_1505021236250955361) { + out_1505021236250955361[0] = 0; + out_1505021236250955361[1] = 0; + out_1505021236250955361[2] = 0; + out_1505021236250955361[3] = 0; + out_1505021236250955361[4] = 0; + out_1505021236250955361[5] = 0; + out_1505021236250955361[6] = 1; + out_1505021236250955361[7] = 0; + out_1505021236250955361[8] = 0; + out_1505021236250955361[9] = 0; + out_1505021236250955361[10] = 0; + out_1505021236250955361[11] = 0; + out_1505021236250955361[12] = 0; + out_1505021236250955361[13] = 0; + out_1505021236250955361[14] = 0; + out_1505021236250955361[15] = 0; + out_1505021236250955361[16] = 0; + out_1505021236250955361[17] = 0; + out_1505021236250955361[18] = 0; + out_1505021236250955361[19] = 0; + out_1505021236250955361[20] = 0; + out_1505021236250955361[21] = 0; + out_1505021236250955361[22] = 0; + out_1505021236250955361[23] = 0; + out_1505021236250955361[24] = 0; + out_1505021236250955361[25] = 1; + out_1505021236250955361[26] = 0; + out_1505021236250955361[27] = 0; + out_1505021236250955361[28] = 0; + out_1505021236250955361[29] = 0; + out_1505021236250955361[30] = 0; + out_1505021236250955361[31] = 0; + out_1505021236250955361[32] = 0; + out_1505021236250955361[33] = 0; + out_1505021236250955361[34] = 0; + out_1505021236250955361[35] = 0; + out_1505021236250955361[36] = 0; + out_1505021236250955361[37] = 0; + out_1505021236250955361[38] = 0; + out_1505021236250955361[39] = 0; + out_1505021236250955361[40] = 0; + out_1505021236250955361[41] = 0; + out_1505021236250955361[42] = 0; + out_1505021236250955361[43] = 0; + out_1505021236250955361[44] = 1; + out_1505021236250955361[45] = 0; + out_1505021236250955361[46] = 0; + out_1505021236250955361[47] = 0; + out_1505021236250955361[48] = 0; + out_1505021236250955361[49] = 0; + out_1505021236250955361[50] = 0; + out_1505021236250955361[51] = 0; + out_1505021236250955361[52] = 0; + out_1505021236250955361[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_2550502777521953992) { - err_fun(nom_x, delta_x, out_2550502777521953992); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5340642756295943636) { + err_fun(nom_x, delta_x, out_5340642756295943636); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2991013798952875835) { - inv_err_fun(nom_x, true_x, out_2991013798952875835); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6968876690248087810) { + inv_err_fun(nom_x, true_x, out_6968876690248087810); } -void pose_H_mod_fun(double *state, double *out_3992538829710935120) { - H_mod_fun(state, out_3992538829710935120); +void pose_H_mod_fun(double *state, double *out_3389862186663429553) { + H_mod_fun(state, out_3389862186663429553); } -void pose_f_fun(double *state, double dt, double *out_8224128290291442758) { - f_fun(state, dt, out_8224128290291442758); +void pose_f_fun(double *state, double dt, double *out_4802700997878092668) { + f_fun(state, dt, out_4802700997878092668); } -void pose_F_fun(double *state, double dt, double *out_4173313334813114557) { - F_fun(state, dt, out_4173313334813114557); +void pose_F_fun(double *state, double dt, double *out_8725044315227912670) { + F_fun(state, dt, out_8725044315227912670); } -void pose_h_4(double *state, double *unused, double *out_8461717180408587044) { - h_4(state, unused, out_8461717180408587044); +void pose_h_4(double *state, double *unused, double *out_1359340648735360631) { + h_4(state, unused, out_1359340648735360631); } -void pose_H_4(double *state, double *unused, double *out_2172840103804638259) { - H_4(state, unused, out_2172840103804638259); +void pose_H_4(double *state, double *unused, double *out_4587809668546327657) { + H_4(state, unused, out_4587809668546327657); } -void pose_h_10(double *state, double *unused, double *out_2633265206766799101) { - h_10(state, unused, out_2633265206766799101); +void pose_h_10(double *state, double *unused, double *out_6036145492114111302) { + h_10(state, unused, out_6036145492114111302); } -void pose_H_10(double *state, double *unused, double *out_3904041767468690216) { - H_10(state, unused, out_3904041767468690216); +void pose_H_10(double *state, double *unused, double *out_7466880812702133914) { + H_10(state, unused, out_7466880812702133914); } -void pose_h_13(double *state, double *unused, double *out_3680645971147336893) { - h_13(state, unused, out_3680645971147336893); +void pose_h_13(double *state, double *unused, double *out_863073697323037062) { + h_13(state, unused, out_863073697323037062); } -void pose_H_13(double *state, double *unused, double *out_5385113929136971060) { - H_13(state, unused, out_5385113929136971060); +void pose_H_13(double *state, double *unused, double *out_7800083493878660458) { + H_13(state, unused, out_7800083493878660458); } -void pose_h_14(double *state, double *unused, double *out_5848550976228580590) { - h_14(state, unused, out_5848550976228580590); +void pose_h_14(double *state, double *unused, double *out_1770197321873156194) { + h_14(state, unused, out_1770197321873156194); } -void pose_H_14(double *state, double *unused, double *out_909948328490734037) { - H_14(state, unused, out_909948328490734037); +void pose_H_14(double *state, double *unused, double *out_1505021236250955361) { + H_14(state, unused, out_1505021236250955361); } 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 6c2900bad..8fb658bc0 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_2550502777521953992); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2991013798952875835); -void pose_H_mod_fun(double *state, double *out_3992538829710935120); -void pose_f_fun(double *state, double dt, double *out_8224128290291442758); -void pose_F_fun(double *state, double dt, double *out_4173313334813114557); -void pose_h_4(double *state, double *unused, double *out_8461717180408587044); -void pose_H_4(double *state, double *unused, double *out_2172840103804638259); -void pose_h_10(double *state, double *unused, double *out_2633265206766799101); -void pose_H_10(double *state, double *unused, double *out_3904041767468690216); -void pose_h_13(double *state, double *unused, double *out_3680645971147336893); -void pose_H_13(double *state, double *unused, double *out_5385113929136971060); -void pose_h_14(double *state, double *unused, double *out_5848550976228580590); -void pose_H_14(double *state, double *unused, double *out_909948328490734037); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5340642756295943636); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6968876690248087810); +void pose_H_mod_fun(double *state, double *out_3389862186663429553); +void pose_f_fun(double *state, double dt, double *out_4802700997878092668); +void pose_F_fun(double *state, double dt, double *out_8725044315227912670); +void pose_h_4(double *state, double *unused, double *out_1359340648735360631); +void pose_H_4(double *state, double *unused, double *out_4587809668546327657); +void pose_h_10(double *state, double *unused, double *out_6036145492114111302); +void pose_H_10(double *state, double *unused, double *out_7466880812702133914); +void pose_h_13(double *state, double *unused, double *out_863073697323037062); +void pose_H_13(double *state, double *unused, double *out_7800083493878660458); +void pose_h_14(double *state, double *unused, double *out_1770197321873156194); +void pose_H_14(double *state, double *unused, double *out_1505021236250955361); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 8e1b4588c..5551573cf 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ