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b/panda/board/obj/version @@ -1 +1 @@ -DEV-a51b1fd7-DEBUG \ No newline at end of file +DEV-2c7e6e72-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 1234969e9..f0b3e8b71 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_6456809504724999118) { - out_6456809504724999118[0] = delta_x[0] + nom_x[0]; - out_6456809504724999118[1] = delta_x[1] + nom_x[1]; - out_6456809504724999118[2] = delta_x[2] + nom_x[2]; - out_6456809504724999118[3] = delta_x[3] + nom_x[3]; - out_6456809504724999118[4] = delta_x[4] + nom_x[4]; - out_6456809504724999118[5] = delta_x[5] + nom_x[5]; - out_6456809504724999118[6] = delta_x[6] + nom_x[6]; - out_6456809504724999118[7] = delta_x[7] + nom_x[7]; - out_6456809504724999118[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901) { + out_8290791895352476901[0] = delta_x[0] + nom_x[0]; + out_8290791895352476901[1] = delta_x[1] + nom_x[1]; + out_8290791895352476901[2] = delta_x[2] + nom_x[2]; + out_8290791895352476901[3] = delta_x[3] + nom_x[3]; + out_8290791895352476901[4] = delta_x[4] + nom_x[4]; + out_8290791895352476901[5] = delta_x[5] + nom_x[5]; + out_8290791895352476901[6] = delta_x[6] + nom_x[6]; + out_8290791895352476901[7] = delta_x[7] + nom_x[7]; + out_8290791895352476901[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5644557425305384061) { - out_5644557425305384061[0] = -nom_x[0] + true_x[0]; - out_5644557425305384061[1] = -nom_x[1] + true_x[1]; - out_5644557425305384061[2] = -nom_x[2] + true_x[2]; - out_5644557425305384061[3] = -nom_x[3] + true_x[3]; - out_5644557425305384061[4] = -nom_x[4] + true_x[4]; - out_5644557425305384061[5] = -nom_x[5] + true_x[5]; - out_5644557425305384061[6] = -nom_x[6] + true_x[6]; - out_5644557425305384061[7] = -nom_x[7] + true_x[7]; - out_5644557425305384061[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526) { + out_3328957974600116526[0] = -nom_x[0] + true_x[0]; + out_3328957974600116526[1] = -nom_x[1] + true_x[1]; + out_3328957974600116526[2] = -nom_x[2] + true_x[2]; + out_3328957974600116526[3] = -nom_x[3] + true_x[3]; + out_3328957974600116526[4] = -nom_x[4] + true_x[4]; + out_3328957974600116526[5] = -nom_x[5] + true_x[5]; + out_3328957974600116526[6] = -nom_x[6] + true_x[6]; + out_3328957974600116526[7] = -nom_x[7] + true_x[7]; + out_3328957974600116526[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3623313066644464969) { - out_3623313066644464969[0] = 1.0; - out_3623313066644464969[1] = 0.0; - out_3623313066644464969[2] = 0.0; - out_3623313066644464969[3] = 0.0; - out_3623313066644464969[4] = 0.0; - out_3623313066644464969[5] = 0.0; - out_3623313066644464969[6] = 0.0; - out_3623313066644464969[7] = 0.0; - out_3623313066644464969[8] = 0.0; - out_3623313066644464969[9] = 0.0; - out_3623313066644464969[10] = 1.0; - out_3623313066644464969[11] = 0.0; - out_3623313066644464969[12] = 0.0; - out_3623313066644464969[13] = 0.0; - out_3623313066644464969[14] = 0.0; - out_3623313066644464969[15] = 0.0; - out_3623313066644464969[16] = 0.0; - out_3623313066644464969[17] = 0.0; - out_3623313066644464969[18] = 0.0; - out_3623313066644464969[19] = 0.0; - out_3623313066644464969[20] = 1.0; - out_3623313066644464969[21] = 0.0; - out_3623313066644464969[22] = 0.0; - out_3623313066644464969[23] = 0.0; - out_3623313066644464969[24] = 0.0; - out_3623313066644464969[25] = 0.0; - out_3623313066644464969[26] = 0.0; - out_3623313066644464969[27] = 0.0; - out_3623313066644464969[28] = 0.0; - out_3623313066644464969[29] = 0.0; - out_3623313066644464969[30] = 1.0; - out_3623313066644464969[31] = 0.0; - out_3623313066644464969[32] = 0.0; - out_3623313066644464969[33] = 0.0; - out_3623313066644464969[34] = 0.0; - out_3623313066644464969[35] = 0.0; - out_3623313066644464969[36] = 0.0; - out_3623313066644464969[37] = 0.0; - out_3623313066644464969[38] = 0.0; - out_3623313066644464969[39] = 0.0; - out_3623313066644464969[40] = 1.0; - out_3623313066644464969[41] = 0.0; - out_3623313066644464969[42] = 0.0; - out_3623313066644464969[43] = 0.0; - out_3623313066644464969[44] = 0.0; - out_3623313066644464969[45] = 0.0; - out_3623313066644464969[46] = 0.0; - out_3623313066644464969[47] = 0.0; - out_3623313066644464969[48] = 0.0; - out_3623313066644464969[49] = 0.0; - out_3623313066644464969[50] = 1.0; - out_3623313066644464969[51] = 0.0; - out_3623313066644464969[52] = 0.0; - out_3623313066644464969[53] = 0.0; - out_3623313066644464969[54] = 0.0; - out_3623313066644464969[55] = 0.0; - out_3623313066644464969[56] = 0.0; - out_3623313066644464969[57] = 0.0; - out_3623313066644464969[58] = 0.0; - out_3623313066644464969[59] = 0.0; - out_3623313066644464969[60] = 1.0; - out_3623313066644464969[61] = 0.0; - out_3623313066644464969[62] = 0.0; - out_3623313066644464969[63] = 0.0; - out_3623313066644464969[64] = 0.0; - out_3623313066644464969[65] = 0.0; - out_3623313066644464969[66] = 0.0; - out_3623313066644464969[67] = 0.0; - out_3623313066644464969[68] = 0.0; - out_3623313066644464969[69] = 0.0; - out_3623313066644464969[70] = 1.0; - out_3623313066644464969[71] = 0.0; - out_3623313066644464969[72] = 0.0; - out_3623313066644464969[73] = 0.0; - out_3623313066644464969[74] = 0.0; - out_3623313066644464969[75] = 0.0; - out_3623313066644464969[76] = 0.0; - out_3623313066644464969[77] = 0.0; - out_3623313066644464969[78] = 0.0; - out_3623313066644464969[79] = 0.0; - out_3623313066644464969[80] = 1.0; +void H_mod_fun(double *state, double *out_5003844791385944482) { + out_5003844791385944482[0] = 1.0; + out_5003844791385944482[1] = 0.0; + out_5003844791385944482[2] = 0.0; + out_5003844791385944482[3] = 0.0; + out_5003844791385944482[4] = 0.0; + out_5003844791385944482[5] = 0.0; + out_5003844791385944482[6] = 0.0; + out_5003844791385944482[7] = 0.0; + out_5003844791385944482[8] = 0.0; + out_5003844791385944482[9] = 0.0; + out_5003844791385944482[10] = 1.0; + out_5003844791385944482[11] = 0.0; + out_5003844791385944482[12] = 0.0; + out_5003844791385944482[13] = 0.0; + out_5003844791385944482[14] = 0.0; + out_5003844791385944482[15] = 0.0; + out_5003844791385944482[16] = 0.0; + out_5003844791385944482[17] = 0.0; + out_5003844791385944482[18] = 0.0; + out_5003844791385944482[19] = 0.0; + out_5003844791385944482[20] = 1.0; + out_5003844791385944482[21] = 0.0; + out_5003844791385944482[22] = 0.0; + out_5003844791385944482[23] = 0.0; + out_5003844791385944482[24] = 0.0; + out_5003844791385944482[25] = 0.0; + out_5003844791385944482[26] = 0.0; + out_5003844791385944482[27] = 0.0; + out_5003844791385944482[28] = 0.0; + out_5003844791385944482[29] = 0.0; + out_5003844791385944482[30] = 1.0; + out_5003844791385944482[31] = 0.0; + out_5003844791385944482[32] = 0.0; + out_5003844791385944482[33] = 0.0; + out_5003844791385944482[34] = 0.0; + out_5003844791385944482[35] = 0.0; + out_5003844791385944482[36] = 0.0; + out_5003844791385944482[37] = 0.0; + out_5003844791385944482[38] = 0.0; + out_5003844791385944482[39] = 0.0; + out_5003844791385944482[40] = 1.0; + out_5003844791385944482[41] = 0.0; + out_5003844791385944482[42] = 0.0; + out_5003844791385944482[43] = 0.0; + out_5003844791385944482[44] = 0.0; + out_5003844791385944482[45] = 0.0; + out_5003844791385944482[46] = 0.0; + out_5003844791385944482[47] = 0.0; + out_5003844791385944482[48] = 0.0; + out_5003844791385944482[49] = 0.0; + out_5003844791385944482[50] = 1.0; + out_5003844791385944482[51] = 0.0; + out_5003844791385944482[52] = 0.0; + out_5003844791385944482[53] = 0.0; + out_5003844791385944482[54] = 0.0; + out_5003844791385944482[55] = 0.0; + out_5003844791385944482[56] = 0.0; + out_5003844791385944482[57] = 0.0; + out_5003844791385944482[58] = 0.0; + out_5003844791385944482[59] = 0.0; + out_5003844791385944482[60] = 1.0; + out_5003844791385944482[61] = 0.0; + out_5003844791385944482[62] = 0.0; + out_5003844791385944482[63] = 0.0; + out_5003844791385944482[64] = 0.0; + out_5003844791385944482[65] = 0.0; + out_5003844791385944482[66] = 0.0; + out_5003844791385944482[67] = 0.0; + out_5003844791385944482[68] = 0.0; + out_5003844791385944482[69] = 0.0; + out_5003844791385944482[70] = 1.0; + out_5003844791385944482[71] = 0.0; + out_5003844791385944482[72] = 0.0; + out_5003844791385944482[73] = 0.0; + out_5003844791385944482[74] = 0.0; + out_5003844791385944482[75] = 0.0; + out_5003844791385944482[76] = 0.0; + out_5003844791385944482[77] = 0.0; + out_5003844791385944482[78] = 0.0; + out_5003844791385944482[79] = 0.0; + out_5003844791385944482[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2530420459597428980) { - out_2530420459597428980[0] = state[0]; - out_2530420459597428980[1] = state[1]; - out_2530420459597428980[2] = state[2]; - out_2530420459597428980[3] = state[3]; - out_2530420459597428980[4] = state[4]; - out_2530420459597428980[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_2530420459597428980[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_2530420459597428980[7] = state[7]; - out_2530420459597428980[8] = state[8]; +void f_fun(double *state, double dt, double *out_2539953356409783064) { + out_2539953356409783064[0] = state[0]; + out_2539953356409783064[1] = state[1]; + out_2539953356409783064[2] = state[2]; + out_2539953356409783064[3] = state[3]; + out_2539953356409783064[4] = state[4]; + out_2539953356409783064[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_2539953356409783064[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_2539953356409783064[7] = state[7]; + out_2539953356409783064[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7641637713499099284) { - out_7641637713499099284[0] = 1; - out_7641637713499099284[1] = 0; - out_7641637713499099284[2] = 0; - out_7641637713499099284[3] = 0; - out_7641637713499099284[4] = 0; - out_7641637713499099284[5] = 0; - out_7641637713499099284[6] = 0; - out_7641637713499099284[7] = 0; - out_7641637713499099284[8] = 0; - out_7641637713499099284[9] = 0; - out_7641637713499099284[10] = 1; - out_7641637713499099284[11] = 0; - out_7641637713499099284[12] = 0; - out_7641637713499099284[13] = 0; - out_7641637713499099284[14] = 0; - out_7641637713499099284[15] = 0; - out_7641637713499099284[16] = 0; - out_7641637713499099284[17] = 0; - out_7641637713499099284[18] = 0; - out_7641637713499099284[19] = 0; - out_7641637713499099284[20] = 1; - out_7641637713499099284[21] = 0; - out_7641637713499099284[22] = 0; - out_7641637713499099284[23] = 0; - out_7641637713499099284[24] = 0; - out_7641637713499099284[25] = 0; - out_7641637713499099284[26] = 0; - out_7641637713499099284[27] = 0; - out_7641637713499099284[28] = 0; - out_7641637713499099284[29] = 0; - out_7641637713499099284[30] = 1; - out_7641637713499099284[31] = 0; - out_7641637713499099284[32] = 0; - out_7641637713499099284[33] = 0; - out_7641637713499099284[34] = 0; - out_7641637713499099284[35] = 0; - out_7641637713499099284[36] = 0; - out_7641637713499099284[37] = 0; - out_7641637713499099284[38] = 0; - out_7641637713499099284[39] = 0; - out_7641637713499099284[40] = 1; - out_7641637713499099284[41] = 0; - out_7641637713499099284[42] = 0; - out_7641637713499099284[43] = 0; - out_7641637713499099284[44] = 0; - out_7641637713499099284[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_7641637713499099284[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7641637713499099284[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7641637713499099284[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7641637713499099284[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_7641637713499099284[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7641637713499099284[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7641637713499099284[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7641637713499099284[53] = -9.8100000000000005*dt; - out_7641637713499099284[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_7641637713499099284[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7641637713499099284[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7641637713499099284[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7641637713499099284[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_7641637713499099284[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7641637713499099284[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_7641637713499099284[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7641637713499099284[62] = 0; - out_7641637713499099284[63] = 0; - out_7641637713499099284[64] = 0; - out_7641637713499099284[65] = 0; - out_7641637713499099284[66] = 0; - out_7641637713499099284[67] = 0; - out_7641637713499099284[68] = 0; - out_7641637713499099284[69] = 0; - out_7641637713499099284[70] = 1; - out_7641637713499099284[71] = 0; - out_7641637713499099284[72] = 0; - out_7641637713499099284[73] = 0; - out_7641637713499099284[74] = 0; - out_7641637713499099284[75] = 0; - out_7641637713499099284[76] = 0; - out_7641637713499099284[77] = 0; - out_7641637713499099284[78] = 0; - out_7641637713499099284[79] = 0; - out_7641637713499099284[80] = 1; +void F_fun(double *state, double dt, double *out_7655677773978689580) { + out_7655677773978689580[0] = 1; + out_7655677773978689580[1] = 0; + out_7655677773978689580[2] = 0; + out_7655677773978689580[3] = 0; + out_7655677773978689580[4] = 0; + out_7655677773978689580[5] = 0; + out_7655677773978689580[6] = 0; + out_7655677773978689580[7] = 0; + out_7655677773978689580[8] = 0; + out_7655677773978689580[9] = 0; + out_7655677773978689580[10] = 1; + out_7655677773978689580[11] = 0; + out_7655677773978689580[12] = 0; + out_7655677773978689580[13] = 0; + out_7655677773978689580[14] = 0; + out_7655677773978689580[15] = 0; + out_7655677773978689580[16] = 0; + out_7655677773978689580[17] = 0; + out_7655677773978689580[18] = 0; + out_7655677773978689580[19] = 0; + out_7655677773978689580[20] = 1; + out_7655677773978689580[21] = 0; + out_7655677773978689580[22] = 0; + out_7655677773978689580[23] = 0; + out_7655677773978689580[24] = 0; + out_7655677773978689580[25] = 0; + out_7655677773978689580[26] = 0; + out_7655677773978689580[27] = 0; + out_7655677773978689580[28] = 0; + out_7655677773978689580[29] = 0; + out_7655677773978689580[30] = 1; + out_7655677773978689580[31] = 0; + out_7655677773978689580[32] = 0; + out_7655677773978689580[33] = 0; + out_7655677773978689580[34] = 0; + out_7655677773978689580[35] = 0; + out_7655677773978689580[36] = 0; + out_7655677773978689580[37] = 0; + out_7655677773978689580[38] = 0; + out_7655677773978689580[39] = 0; + out_7655677773978689580[40] = 1; + out_7655677773978689580[41] = 0; + out_7655677773978689580[42] = 0; + out_7655677773978689580[43] = 0; + out_7655677773978689580[44] = 0; + out_7655677773978689580[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_7655677773978689580[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_7655677773978689580[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7655677773978689580[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_7655677773978689580[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_7655677773978689580[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_7655677773978689580[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_7655677773978689580[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_7655677773978689580[53] = -9.8100000000000005*dt; + out_7655677773978689580[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_7655677773978689580[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_7655677773978689580[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7655677773978689580[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7655677773978689580[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_7655677773978689580[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_7655677773978689580[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_7655677773978689580[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_7655677773978689580[62] = 0; + out_7655677773978689580[63] = 0; + out_7655677773978689580[64] = 0; + out_7655677773978689580[65] = 0; + out_7655677773978689580[66] = 0; + out_7655677773978689580[67] = 0; + out_7655677773978689580[68] = 0; + out_7655677773978689580[69] = 0; + out_7655677773978689580[70] = 1; + out_7655677773978689580[71] = 0; + out_7655677773978689580[72] = 0; + out_7655677773978689580[73] = 0; + out_7655677773978689580[74] = 0; + out_7655677773978689580[75] = 0; + out_7655677773978689580[76] = 0; + out_7655677773978689580[77] = 0; + out_7655677773978689580[78] = 0; + out_7655677773978689580[79] = 0; + out_7655677773978689580[80] = 1; } -void h_25(double *state, double *unused, double *out_9149101986531247315) { - out_9149101986531247315[0] = state[6]; +void h_25(double *state, double *unused, double *out_1727643108219156348) { + out_1727643108219156348[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8527004891829129809) { - out_8527004891829129809[0] = 0; - out_8527004891829129809[1] = 0; - out_8527004891829129809[2] = 0; - out_8527004891829129809[3] = 0; - out_8527004891829129809[4] = 0; - out_8527004891829129809[5] = 0; - out_8527004891829129809[6] = 1; - out_8527004891829129809[7] = 0; - out_8527004891829129809[8] = 0; +void H_25(double *state, double *unused, double *out_5770292553468151731) { + out_5770292553468151731[0] = 0; + out_5770292553468151731[1] = 0; + out_5770292553468151731[2] = 0; + out_5770292553468151731[3] = 0; + out_5770292553468151731[4] = 0; + out_5770292553468151731[5] = 0; + out_5770292553468151731[6] = 1; + out_5770292553468151731[7] = 0; + out_5770292553468151731[8] = 0; } -void h_24(double *state, double *unused, double *out_3166828984508355697) { - out_3166828984508355697[0] = state[4]; - out_3166828984508355697[1] = state[5]; +void h_24(double *state, double *unused, double *out_4524050476975214784) { + out_4524050476975214784[0] = state[4]; + out_4524050476975214784[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2072385171006399745) { - out_2072385171006399745[0] = 0; - out_2072385171006399745[1] = 0; - out_2072385171006399745[2] = 0; - out_2072385171006399745[3] = 0; - out_2072385171006399745[4] = 1; - out_2072385171006399745[5] = 0; - out_2072385171006399745[6] = 0; - out_2072385171006399745[7] = 0; - out_2072385171006399745[8] = 0; - out_2072385171006399745[9] = 0; - out_2072385171006399745[10] = 0; - out_2072385171006399745[11] = 0; - out_2072385171006399745[12] = 0; - out_2072385171006399745[13] = 0; - out_2072385171006399745[14] = 1; - out_2072385171006399745[15] = 0; - out_2072385171006399745[16] = 0; - out_2072385171006399745[17] = 0; +void H_24(double *state, double *unused, double *out_6475418840390238459) { + out_6475418840390238459[0] = 0; + out_6475418840390238459[1] = 0; + out_6475418840390238459[2] = 0; + out_6475418840390238459[3] = 0; + out_6475418840390238459[4] = 1; + out_6475418840390238459[5] = 0; + out_6475418840390238459[6] = 0; + out_6475418840390238459[7] = 0; + out_6475418840390238459[8] = 0; + out_6475418840390238459[9] = 0; + out_6475418840390238459[10] = 0; + out_6475418840390238459[11] = 0; + out_6475418840390238459[12] = 0; + out_6475418840390238459[13] = 0; + out_6475418840390238459[14] = 1; + out_6475418840390238459[15] = 0; + out_6475418840390238459[16] = 0; + out_6475418840390238459[17] = 0; } -void h_30(double *state, double *unused, double *out_1385836729710574874) { - out_1385836729710574874[0] = state[4]; +void h_30(double *state, double *unused, double *out_90439028039008013) { + out_90439028039008013[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7401406223373173180) { - out_7401406223373173180[0] = 0; - out_7401406223373173180[1] = 0; - out_7401406223373173180[2] = 0; - out_7401406223373173180[3] = 0; - out_7401406223373173180[4] = 1; - out_7401406223373173180[5] = 0; - out_7401406223373173180[6] = 0; - out_7401406223373173180[7] = 0; - out_7401406223373173180[8] = 0; +void H_30(double *state, double *unused, double *out_8148755190113791687) { + out_8148755190113791687[0] = 0; + out_8148755190113791687[1] = 0; + out_8148755190113791687[2] = 0; + out_8148755190113791687[3] = 0; + out_8148755190113791687[4] = 1; + out_8148755190113791687[5] = 0; + out_8148755190113791687[6] = 0; + out_8148755190113791687[7] = 0; + out_8148755190113791687[8] = 0; } -void h_26(double *state, double *unused, double *out_7332000190158117452) { - out_7332000190158117452[0] = state[7]; +void h_26(double *state, double *unused, double *out_1938532702514813353) { + out_1938532702514813353[0] = state[7]; } -void H_26(double *state, double *unused, double *out_4785501572955073585) { - out_4785501572955073585[0] = 0; - out_4785501572955073585[1] = 0; - out_4785501572955073585[2] = 0; - out_4785501572955073585[3] = 0; - out_4785501572955073585[4] = 0; - out_4785501572955073585[5] = 0; - out_4785501572955073585[6] = 0; - out_4785501572955073585[7] = 1; - out_4785501572955073585[8] = 0; +void H_26(double *state, double *unused, double *out_8934948201367343661) { + out_8934948201367343661[0] = 0; + out_8934948201367343661[1] = 0; + out_8934948201367343661[2] = 0; + out_8934948201367343661[3] = 0; + out_8934948201367343661[4] = 0; + out_8934948201367343661[5] = 0; + out_8934948201367343661[6] = 0; + out_8934948201367343661[7] = 1; + out_8934948201367343661[8] = 0; } -void h_27(double *state, double *unused, double *out_3419356599619589213) { - out_3419356599619589213[0] = state[3]; +void h_27(double *state, double *unused, double *out_2553920733024504160) { + out_2553920733024504160[0] = state[3]; } -void H_27(double *state, double *unused, double *out_8870574538535953525) { - out_8870574538535953525[0] = 0; - out_8870574538535953525[1] = 0; - out_8870574538535953525[2] = 0; - out_8870574538535953525[3] = 1; - out_8870574538535953525[4] = 0; - out_8870574538535953525[5] = 0; - out_8870574538535953525[6] = 0; - out_8870574538535953525[7] = 0; - out_8870574538535953525[8] = 0; +void H_27(double *state, double *unused, double *out_8074394812411816712) { + out_8074394812411816712[0] = 0; + out_8074394812411816712[1] = 0; + out_8074394812411816712[2] = 0; + out_8074394812411816712[3] = 1; + out_8074394812411816712[4] = 0; + out_8074394812411816712[5] = 0; + out_8074394812411816712[6] = 0; + out_8074394812411816712[7] = 0; + out_8074394812411816712[8] = 0; } -void h_29(double *state, double *unused, double *out_442326876808912439) { - out_442326876808912439[0] = state[1]; +void h_29(double *state, double *unused, double *out_1033948880940670448) { + out_1033948880940670448[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6891174879058780996) { - out_6891174879058780996[0] = 0; - out_6891174879058780996[1] = 1; - out_6891174879058780996[2] = 0; - out_6891174879058780996[3] = 0; - out_6891174879058780996[4] = 0; - out_6891174879058780996[5] = 0; - out_6891174879058780996[6] = 0; - out_6891174879058780996[7] = 0; - out_6891174879058780996[8] = 0; +void H_29(double *state, double *unused, double *out_8658986534428183871) { + out_8658986534428183871[0] = 0; + out_8658986534428183871[1] = 1; + out_8658986534428183871[2] = 0; + out_8658986534428183871[3] = 0; + out_8658986534428183871[4] = 0; + out_8658986534428183871[5] = 0; + out_8658986534428183871[6] = 0; + out_8658986534428183871[7] = 0; + out_8658986534428183871[8] = 0; } -void h_28(double *state, double *unused, double *out_6231908702889442596) { - out_6231908702889442596[0] = state[0]; +void h_28(double *state, double *unused, double *out_3913548264033873988) { + out_3913548264033873988[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6473170177581240046) { - out_6473170177581240046[0] = 1; - out_6473170177581240046[1] = 0; - out_6473170177581240046[2] = 0; - out_6473170177581240046[3] = 0; - out_6473170177581240046[4] = 0; - out_6473170177581240046[5] = 0; - out_6473170177581240046[6] = 0; - out_6473170177581240046[7] = 0; - out_6473170177581240046[8] = 0; +void H_28(double *state, double *unused, double *out_3576587517358653297) { + out_3576587517358653297[0] = 1; + out_3576587517358653297[1] = 0; + out_3576587517358653297[2] = 0; + out_3576587517358653297[3] = 0; + out_3576587517358653297[4] = 0; + out_3576587517358653297[5] = 0; + out_3576587517358653297[6] = 0; + out_3576587517358653297[7] = 0; + out_3576587517358653297[8] = 0; } -void h_31(double *state, double *unused, double *out_657764610459762417) { - out_657764610459762417[0] = state[8]; +void h_31(double *state, double *unused, double *out_7253700544770179461) { + out_7253700544770179461[0] = state[8]; } -void H_31(double *state, double *unused, double *out_4159293470721722109) { - out_4159293470721722109[0] = 0; - out_4159293470721722109[1] = 0; - out_4159293470721722109[2] = 0; - out_4159293470721722109[3] = 0; - out_4159293470721722109[4] = 0; - out_4159293470721722109[5] = 0; - out_4159293470721722109[6] = 0; - out_4159293470721722109[7] = 0; - out_4159293470721722109[8] = 1; +void H_31(double *state, double *unused, double *out_5739646591591191303) { + out_5739646591591191303[0] = 0; + out_5739646591591191303[1] = 0; + out_5739646591591191303[2] = 0; + out_5739646591591191303[3] = 0; + out_5739646591591191303[4] = 0; + out_5739646591591191303[5] = 0; + out_5739646591591191303[6] = 0; + out_5739646591591191303[7] = 0; + out_5739646591591191303[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_6456809504724999118) { - err_fun(nom_x, delta_x, out_6456809504724999118); +void car_err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901) { + err_fun(nom_x, delta_x, out_8290791895352476901); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5644557425305384061) { - inv_err_fun(nom_x, true_x, out_5644557425305384061); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526) { + inv_err_fun(nom_x, true_x, out_3328957974600116526); } -void car_H_mod_fun(double *state, double *out_3623313066644464969) { - H_mod_fun(state, out_3623313066644464969); +void car_H_mod_fun(double *state, double *out_5003844791385944482) { + H_mod_fun(state, out_5003844791385944482); } -void car_f_fun(double *state, double dt, double *out_2530420459597428980) { - f_fun(state, dt, out_2530420459597428980); +void car_f_fun(double *state, double dt, double *out_2539953356409783064) { + f_fun(state, dt, out_2539953356409783064); } -void car_F_fun(double *state, double dt, double *out_7641637713499099284) { - F_fun(state, dt, out_7641637713499099284); +void car_F_fun(double *state, double dt, double *out_7655677773978689580) { + F_fun(state, dt, out_7655677773978689580); } -void car_h_25(double *state, double *unused, double *out_9149101986531247315) { - h_25(state, unused, out_9149101986531247315); +void car_h_25(double *state, double *unused, double *out_1727643108219156348) { + h_25(state, unused, out_1727643108219156348); } -void car_H_25(double *state, double *unused, double *out_8527004891829129809) { - H_25(state, unused, out_8527004891829129809); +void car_H_25(double *state, double *unused, double *out_5770292553468151731) { + H_25(state, unused, out_5770292553468151731); } -void car_h_24(double *state, double *unused, double *out_3166828984508355697) { - h_24(state, unused, out_3166828984508355697); +void car_h_24(double *state, double *unused, double *out_4524050476975214784) { + h_24(state, unused, out_4524050476975214784); } -void car_H_24(double *state, double *unused, double *out_2072385171006399745) { - H_24(state, unused, out_2072385171006399745); +void car_H_24(double *state, double *unused, double *out_6475418840390238459) { + H_24(state, unused, out_6475418840390238459); } -void car_h_30(double *state, double *unused, double *out_1385836729710574874) { - h_30(state, unused, out_1385836729710574874); +void car_h_30(double *state, double *unused, double *out_90439028039008013) { + h_30(state, unused, out_90439028039008013); } -void car_H_30(double *state, double *unused, double *out_7401406223373173180) { - H_30(state, unused, out_7401406223373173180); +void car_H_30(double *state, double *unused, double *out_8148755190113791687) { + H_30(state, unused, out_8148755190113791687); } -void car_h_26(double *state, double *unused, double *out_7332000190158117452) { - h_26(state, unused, out_7332000190158117452); +void car_h_26(double *state, double *unused, double *out_1938532702514813353) { + h_26(state, unused, out_1938532702514813353); } -void car_H_26(double *state, double *unused, double *out_4785501572955073585) { - H_26(state, unused, out_4785501572955073585); +void car_H_26(double *state, double *unused, double *out_8934948201367343661) { + H_26(state, unused, out_8934948201367343661); } -void car_h_27(double *state, double *unused, double *out_3419356599619589213) { - h_27(state, unused, out_3419356599619589213); +void car_h_27(double *state, double *unused, double *out_2553920733024504160) { + h_27(state, unused, out_2553920733024504160); } -void car_H_27(double *state, double *unused, double *out_8870574538535953525) { - H_27(state, unused, out_8870574538535953525); +void car_H_27(double *state, double *unused, double *out_8074394812411816712) { + H_27(state, unused, out_8074394812411816712); } -void car_h_29(double *state, double *unused, double *out_442326876808912439) { - h_29(state, unused, out_442326876808912439); +void car_h_29(double *state, double *unused, double *out_1033948880940670448) { + h_29(state, unused, out_1033948880940670448); } -void car_H_29(double *state, double *unused, double *out_6891174879058780996) { - H_29(state, unused, out_6891174879058780996); +void car_H_29(double *state, double *unused, double *out_8658986534428183871) { + H_29(state, unused, out_8658986534428183871); } -void car_h_28(double *state, double *unused, double *out_6231908702889442596) { - h_28(state, unused, out_6231908702889442596); +void car_h_28(double *state, double *unused, double *out_3913548264033873988) { + h_28(state, unused, out_3913548264033873988); } -void car_H_28(double *state, double *unused, double *out_6473170177581240046) { - H_28(state, unused, out_6473170177581240046); +void car_H_28(double *state, double *unused, double *out_3576587517358653297) { + H_28(state, unused, out_3576587517358653297); } -void car_h_31(double *state, double *unused, double *out_657764610459762417) { - h_31(state, unused, out_657764610459762417); +void car_h_31(double *state, double *unused, double *out_7253700544770179461) { + h_31(state, unused, out_7253700544770179461); } -void car_H_31(double *state, double *unused, double *out_4159293470721722109) { - H_31(state, unused, out_4159293470721722109); +void car_H_31(double *state, double *unused, double *out_5739646591591191303) { + H_31(state, unused, out_5739646591591191303); } 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 a68e33a1a..5c0c2c338 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_6456809504724999118); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5644557425305384061); -void car_H_mod_fun(double *state, double *out_3623313066644464969); -void car_f_fun(double *state, double dt, double *out_2530420459597428980); -void car_F_fun(double *state, double dt, double *out_7641637713499099284); -void car_h_25(double *state, double *unused, double *out_9149101986531247315); -void car_H_25(double *state, double *unused, double *out_8527004891829129809); -void car_h_24(double *state, double *unused, double *out_3166828984508355697); -void car_H_24(double *state, double *unused, double *out_2072385171006399745); -void car_h_30(double *state, double *unused, double *out_1385836729710574874); -void car_H_30(double *state, double *unused, double *out_7401406223373173180); -void car_h_26(double *state, double *unused, double *out_7332000190158117452); -void car_H_26(double *state, double *unused, double *out_4785501572955073585); -void car_h_27(double *state, double *unused, double *out_3419356599619589213); -void car_H_27(double *state, double *unused, double *out_8870574538535953525); -void car_h_29(double *state, double *unused, double *out_442326876808912439); -void car_H_29(double *state, double *unused, double *out_6891174879058780996); -void car_h_28(double *state, double *unused, double *out_6231908702889442596); -void car_H_28(double *state, double *unused, double *out_6473170177581240046); -void car_h_31(double *state, double *unused, double *out_657764610459762417); -void car_H_31(double *state, double *unused, double *out_4159293470721722109); +void car_err_fun(double *nom_x, double *delta_x, double *out_8290791895352476901); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3328957974600116526); +void car_H_mod_fun(double *state, double *out_5003844791385944482); +void car_f_fun(double *state, double dt, double *out_2539953356409783064); +void car_F_fun(double *state, double dt, double *out_7655677773978689580); +void car_h_25(double *state, double *unused, double *out_1727643108219156348); +void car_H_25(double *state, double *unused, double *out_5770292553468151731); +void car_h_24(double *state, double *unused, double *out_4524050476975214784); +void car_H_24(double *state, double *unused, double *out_6475418840390238459); +void car_h_30(double *state, double *unused, double *out_90439028039008013); +void car_H_30(double *state, double *unused, double *out_8148755190113791687); +void car_h_26(double *state, double *unused, double *out_1938532702514813353); +void car_H_26(double *state, double *unused, double *out_8934948201367343661); +void car_h_27(double *state, double *unused, double *out_2553920733024504160); +void car_H_27(double *state, double *unused, double *out_8074394812411816712); +void car_h_29(double *state, double *unused, double *out_1033948880940670448); +void car_H_29(double *state, double *unused, double *out_8658986534428183871); +void car_h_28(double *state, double *unused, double *out_3913548264033873988); +void car_H_28(double *state, double *unused, double *out_3576587517358653297); +void car_h_31(double *state, double *unused, double *out_7253700544770179461); +void car_H_31(double *state, double *unused, double *out_5739646591591191303); 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 d4cfe453b..fdd8c2327 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_8879515811318903877) { - out_8879515811318903877[0] = delta_x[0] + nom_x[0]; - out_8879515811318903877[1] = delta_x[1] + nom_x[1]; - out_8879515811318903877[2] = delta_x[2] + nom_x[2]; - out_8879515811318903877[3] = delta_x[3] + nom_x[3]; - out_8879515811318903877[4] = delta_x[4] + nom_x[4]; - out_8879515811318903877[5] = delta_x[5] + nom_x[5]; - out_8879515811318903877[6] = delta_x[6] + nom_x[6]; - out_8879515811318903877[7] = delta_x[7] + nom_x[7]; - out_8879515811318903877[8] = delta_x[8] + nom_x[8]; - out_8879515811318903877[9] = delta_x[9] + nom_x[9]; - out_8879515811318903877[10] = delta_x[10] + nom_x[10]; - out_8879515811318903877[11] = delta_x[11] + nom_x[11]; - out_8879515811318903877[12] = delta_x[12] + nom_x[12]; - out_8879515811318903877[13] = delta_x[13] + nom_x[13]; - out_8879515811318903877[14] = delta_x[14] + nom_x[14]; - out_8879515811318903877[15] = delta_x[15] + nom_x[15]; - out_8879515811318903877[16] = delta_x[16] + nom_x[16]; - out_8879515811318903877[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_607652414837750033) { + out_607652414837750033[0] = delta_x[0] + nom_x[0]; + out_607652414837750033[1] = delta_x[1] + nom_x[1]; + out_607652414837750033[2] = delta_x[2] + nom_x[2]; + out_607652414837750033[3] = delta_x[3] + nom_x[3]; + out_607652414837750033[4] = delta_x[4] + nom_x[4]; + out_607652414837750033[5] = delta_x[5] + nom_x[5]; + out_607652414837750033[6] = delta_x[6] + nom_x[6]; + out_607652414837750033[7] = delta_x[7] + nom_x[7]; + out_607652414837750033[8] = delta_x[8] + nom_x[8]; + out_607652414837750033[9] = delta_x[9] + nom_x[9]; + out_607652414837750033[10] = delta_x[10] + nom_x[10]; + out_607652414837750033[11] = delta_x[11] + nom_x[11]; + out_607652414837750033[12] = delta_x[12] + nom_x[12]; + out_607652414837750033[13] = delta_x[13] + nom_x[13]; + out_607652414837750033[14] = delta_x[14] + nom_x[14]; + out_607652414837750033[15] = delta_x[15] + nom_x[15]; + out_607652414837750033[16] = delta_x[16] + nom_x[16]; + out_607652414837750033[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5299248816140732451) { - out_5299248816140732451[0] = -nom_x[0] + true_x[0]; - out_5299248816140732451[1] = -nom_x[1] + true_x[1]; - out_5299248816140732451[2] = -nom_x[2] + true_x[2]; - out_5299248816140732451[3] = -nom_x[3] + true_x[3]; - out_5299248816140732451[4] = -nom_x[4] + true_x[4]; - out_5299248816140732451[5] = -nom_x[5] + true_x[5]; - out_5299248816140732451[6] = -nom_x[6] + true_x[6]; - out_5299248816140732451[7] = -nom_x[7] + true_x[7]; - out_5299248816140732451[8] = -nom_x[8] + true_x[8]; - out_5299248816140732451[9] = -nom_x[9] + true_x[9]; - out_5299248816140732451[10] = -nom_x[10] + true_x[10]; - out_5299248816140732451[11] = -nom_x[11] + true_x[11]; - out_5299248816140732451[12] = -nom_x[12] + true_x[12]; - out_5299248816140732451[13] = -nom_x[13] + true_x[13]; - out_5299248816140732451[14] = -nom_x[14] + true_x[14]; - out_5299248816140732451[15] = -nom_x[15] + true_x[15]; - out_5299248816140732451[16] = -nom_x[16] + true_x[16]; - out_5299248816140732451[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4916314802659989276) { + out_4916314802659989276[0] = -nom_x[0] + true_x[0]; + out_4916314802659989276[1] = -nom_x[1] + true_x[1]; + out_4916314802659989276[2] = -nom_x[2] + true_x[2]; + out_4916314802659989276[3] = -nom_x[3] + true_x[3]; + out_4916314802659989276[4] = -nom_x[4] + true_x[4]; + out_4916314802659989276[5] = -nom_x[5] + true_x[5]; + out_4916314802659989276[6] = -nom_x[6] + true_x[6]; + out_4916314802659989276[7] = -nom_x[7] + true_x[7]; + out_4916314802659989276[8] = -nom_x[8] + true_x[8]; + out_4916314802659989276[9] = -nom_x[9] + true_x[9]; + out_4916314802659989276[10] = -nom_x[10] + true_x[10]; + out_4916314802659989276[11] = -nom_x[11] + true_x[11]; + out_4916314802659989276[12] = -nom_x[12] + true_x[12]; + out_4916314802659989276[13] = -nom_x[13] + true_x[13]; + out_4916314802659989276[14] = -nom_x[14] + true_x[14]; + out_4916314802659989276[15] = -nom_x[15] + true_x[15]; + out_4916314802659989276[16] = -nom_x[16] + true_x[16]; + out_4916314802659989276[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4677544152144015683) { - out_4677544152144015683[0] = 1.0; - out_4677544152144015683[1] = 0.0; - out_4677544152144015683[2] = 0.0; - out_4677544152144015683[3] = 0.0; - out_4677544152144015683[4] = 0.0; - out_4677544152144015683[5] = 0.0; - out_4677544152144015683[6] = 0.0; - out_4677544152144015683[7] = 0.0; - out_4677544152144015683[8] = 0.0; - out_4677544152144015683[9] = 0.0; - out_4677544152144015683[10] = 0.0; - out_4677544152144015683[11] = 0.0; - out_4677544152144015683[12] = 0.0; - out_4677544152144015683[13] = 0.0; - out_4677544152144015683[14] = 0.0; - out_4677544152144015683[15] = 0.0; - out_4677544152144015683[16] = 0.0; - out_4677544152144015683[17] = 0.0; - out_4677544152144015683[18] = 0.0; - out_4677544152144015683[19] = 1.0; - out_4677544152144015683[20] = 0.0; - out_4677544152144015683[21] = 0.0; - out_4677544152144015683[22] = 0.0; - out_4677544152144015683[23] = 0.0; - out_4677544152144015683[24] = 0.0; - out_4677544152144015683[25] = 0.0; - out_4677544152144015683[26] = 0.0; - out_4677544152144015683[27] = 0.0; - out_4677544152144015683[28] = 0.0; - out_4677544152144015683[29] = 0.0; - out_4677544152144015683[30] = 0.0; - out_4677544152144015683[31] = 0.0; - out_4677544152144015683[32] = 0.0; - out_4677544152144015683[33] = 0.0; - out_4677544152144015683[34] = 0.0; - out_4677544152144015683[35] = 0.0; - out_4677544152144015683[36] = 0.0; - out_4677544152144015683[37] = 0.0; - out_4677544152144015683[38] = 1.0; - out_4677544152144015683[39] = 0.0; - out_4677544152144015683[40] = 0.0; - out_4677544152144015683[41] = 0.0; - out_4677544152144015683[42] = 0.0; - out_4677544152144015683[43] = 0.0; - out_4677544152144015683[44] = 0.0; - out_4677544152144015683[45] = 0.0; - out_4677544152144015683[46] = 0.0; - out_4677544152144015683[47] = 0.0; - out_4677544152144015683[48] = 0.0; - out_4677544152144015683[49] = 0.0; - out_4677544152144015683[50] = 0.0; - out_4677544152144015683[51] = 0.0; - out_4677544152144015683[52] = 0.0; - out_4677544152144015683[53] = 0.0; - out_4677544152144015683[54] = 0.0; - out_4677544152144015683[55] = 0.0; - out_4677544152144015683[56] = 0.0; - out_4677544152144015683[57] = 1.0; - out_4677544152144015683[58] = 0.0; - out_4677544152144015683[59] = 0.0; - out_4677544152144015683[60] = 0.0; - out_4677544152144015683[61] = 0.0; - out_4677544152144015683[62] = 0.0; - out_4677544152144015683[63] = 0.0; - out_4677544152144015683[64] = 0.0; - out_4677544152144015683[65] = 0.0; - out_4677544152144015683[66] = 0.0; - out_4677544152144015683[67] = 0.0; - out_4677544152144015683[68] = 0.0; - out_4677544152144015683[69] = 0.0; - out_4677544152144015683[70] = 0.0; - out_4677544152144015683[71] = 0.0; - out_4677544152144015683[72] = 0.0; - out_4677544152144015683[73] = 0.0; - out_4677544152144015683[74] = 0.0; - out_4677544152144015683[75] = 0.0; - out_4677544152144015683[76] = 1.0; - out_4677544152144015683[77] = 0.0; - out_4677544152144015683[78] = 0.0; - out_4677544152144015683[79] = 0.0; - out_4677544152144015683[80] = 0.0; - out_4677544152144015683[81] = 0.0; - out_4677544152144015683[82] = 0.0; - out_4677544152144015683[83] = 0.0; - out_4677544152144015683[84] = 0.0; - out_4677544152144015683[85] = 0.0; - out_4677544152144015683[86] = 0.0; - out_4677544152144015683[87] = 0.0; - out_4677544152144015683[88] = 0.0; - out_4677544152144015683[89] = 0.0; - out_4677544152144015683[90] = 0.0; - out_4677544152144015683[91] = 0.0; - out_4677544152144015683[92] = 0.0; - out_4677544152144015683[93] = 0.0; - out_4677544152144015683[94] = 0.0; - out_4677544152144015683[95] = 1.0; - out_4677544152144015683[96] = 0.0; - out_4677544152144015683[97] = 0.0; - out_4677544152144015683[98] = 0.0; - out_4677544152144015683[99] = 0.0; - out_4677544152144015683[100] = 0.0; - out_4677544152144015683[101] = 0.0; - out_4677544152144015683[102] = 0.0; - out_4677544152144015683[103] = 0.0; - out_4677544152144015683[104] = 0.0; - out_4677544152144015683[105] = 0.0; - out_4677544152144015683[106] = 0.0; - out_4677544152144015683[107] = 0.0; - out_4677544152144015683[108] = 0.0; - out_4677544152144015683[109] = 0.0; - out_4677544152144015683[110] = 0.0; - out_4677544152144015683[111] = 0.0; - out_4677544152144015683[112] = 0.0; - out_4677544152144015683[113] = 0.0; - out_4677544152144015683[114] = 1.0; - out_4677544152144015683[115] = 0.0; - out_4677544152144015683[116] = 0.0; - out_4677544152144015683[117] = 0.0; - out_4677544152144015683[118] = 0.0; - out_4677544152144015683[119] = 0.0; - out_4677544152144015683[120] = 0.0; - out_4677544152144015683[121] = 0.0; - out_4677544152144015683[122] = 0.0; - out_4677544152144015683[123] = 0.0; - out_4677544152144015683[124] = 0.0; - out_4677544152144015683[125] = 0.0; - out_4677544152144015683[126] = 0.0; - out_4677544152144015683[127] = 0.0; - out_4677544152144015683[128] = 0.0; - out_4677544152144015683[129] = 0.0; - out_4677544152144015683[130] = 0.0; - out_4677544152144015683[131] = 0.0; - out_4677544152144015683[132] = 0.0; - out_4677544152144015683[133] = 1.0; - out_4677544152144015683[134] = 0.0; - out_4677544152144015683[135] = 0.0; - out_4677544152144015683[136] = 0.0; - out_4677544152144015683[137] = 0.0; - out_4677544152144015683[138] = 0.0; - out_4677544152144015683[139] = 0.0; - out_4677544152144015683[140] = 0.0; - out_4677544152144015683[141] = 0.0; - out_4677544152144015683[142] = 0.0; - out_4677544152144015683[143] = 0.0; - out_4677544152144015683[144] = 0.0; - out_4677544152144015683[145] = 0.0; - out_4677544152144015683[146] = 0.0; - out_4677544152144015683[147] = 0.0; - out_4677544152144015683[148] = 0.0; - out_4677544152144015683[149] = 0.0; - out_4677544152144015683[150] = 0.0; - out_4677544152144015683[151] = 0.0; - out_4677544152144015683[152] = 1.0; - out_4677544152144015683[153] = 0.0; - out_4677544152144015683[154] = 0.0; - out_4677544152144015683[155] = 0.0; - out_4677544152144015683[156] = 0.0; - out_4677544152144015683[157] = 0.0; - out_4677544152144015683[158] = 0.0; - out_4677544152144015683[159] = 0.0; - out_4677544152144015683[160] = 0.0; - out_4677544152144015683[161] = 0.0; - out_4677544152144015683[162] = 0.0; - out_4677544152144015683[163] = 0.0; - out_4677544152144015683[164] = 0.0; - out_4677544152144015683[165] = 0.0; - out_4677544152144015683[166] = 0.0; - out_4677544152144015683[167] = 0.0; - out_4677544152144015683[168] = 0.0; - out_4677544152144015683[169] = 0.0; - out_4677544152144015683[170] = 0.0; - out_4677544152144015683[171] = 1.0; - out_4677544152144015683[172] = 0.0; - out_4677544152144015683[173] = 0.0; - out_4677544152144015683[174] = 0.0; - out_4677544152144015683[175] = 0.0; - out_4677544152144015683[176] = 0.0; - out_4677544152144015683[177] = 0.0; - out_4677544152144015683[178] = 0.0; - out_4677544152144015683[179] = 0.0; - out_4677544152144015683[180] = 0.0; - out_4677544152144015683[181] = 0.0; - out_4677544152144015683[182] = 0.0; - out_4677544152144015683[183] = 0.0; - out_4677544152144015683[184] = 0.0; - out_4677544152144015683[185] = 0.0; - out_4677544152144015683[186] = 0.0; - out_4677544152144015683[187] = 0.0; - out_4677544152144015683[188] = 0.0; - out_4677544152144015683[189] = 0.0; - out_4677544152144015683[190] = 1.0; - out_4677544152144015683[191] = 0.0; - out_4677544152144015683[192] = 0.0; - out_4677544152144015683[193] = 0.0; - out_4677544152144015683[194] = 0.0; - out_4677544152144015683[195] = 0.0; - out_4677544152144015683[196] = 0.0; - out_4677544152144015683[197] = 0.0; - out_4677544152144015683[198] = 0.0; - out_4677544152144015683[199] = 0.0; - out_4677544152144015683[200] = 0.0; - out_4677544152144015683[201] = 0.0; - out_4677544152144015683[202] = 0.0; - out_4677544152144015683[203] = 0.0; - out_4677544152144015683[204] = 0.0; - out_4677544152144015683[205] = 0.0; - out_4677544152144015683[206] = 0.0; - out_4677544152144015683[207] = 0.0; - out_4677544152144015683[208] = 0.0; - out_4677544152144015683[209] = 1.0; - out_4677544152144015683[210] = 0.0; - out_4677544152144015683[211] = 0.0; - out_4677544152144015683[212] = 0.0; - out_4677544152144015683[213] = 0.0; - out_4677544152144015683[214] = 0.0; - out_4677544152144015683[215] = 0.0; - out_4677544152144015683[216] = 0.0; - out_4677544152144015683[217] = 0.0; - out_4677544152144015683[218] = 0.0; - out_4677544152144015683[219] = 0.0; - out_4677544152144015683[220] = 0.0; - out_4677544152144015683[221] = 0.0; - out_4677544152144015683[222] = 0.0; - out_4677544152144015683[223] = 0.0; - out_4677544152144015683[224] = 0.0; - out_4677544152144015683[225] = 0.0; - out_4677544152144015683[226] = 0.0; - out_4677544152144015683[227] = 0.0; - out_4677544152144015683[228] = 1.0; - out_4677544152144015683[229] = 0.0; - out_4677544152144015683[230] = 0.0; - out_4677544152144015683[231] = 0.0; - out_4677544152144015683[232] = 0.0; - out_4677544152144015683[233] = 0.0; - out_4677544152144015683[234] = 0.0; - out_4677544152144015683[235] = 0.0; - out_4677544152144015683[236] = 0.0; - out_4677544152144015683[237] = 0.0; - out_4677544152144015683[238] = 0.0; - out_4677544152144015683[239] = 0.0; - out_4677544152144015683[240] = 0.0; - out_4677544152144015683[241] = 0.0; - out_4677544152144015683[242] = 0.0; - out_4677544152144015683[243] = 0.0; - out_4677544152144015683[244] = 0.0; - out_4677544152144015683[245] = 0.0; - out_4677544152144015683[246] = 0.0; - out_4677544152144015683[247] = 1.0; - out_4677544152144015683[248] = 0.0; - out_4677544152144015683[249] = 0.0; - out_4677544152144015683[250] = 0.0; - out_4677544152144015683[251] = 0.0; - out_4677544152144015683[252] = 0.0; - out_4677544152144015683[253] = 0.0; - out_4677544152144015683[254] = 0.0; - out_4677544152144015683[255] = 0.0; - out_4677544152144015683[256] = 0.0; - out_4677544152144015683[257] = 0.0; - out_4677544152144015683[258] = 0.0; - out_4677544152144015683[259] = 0.0; - out_4677544152144015683[260] = 0.0; - out_4677544152144015683[261] = 0.0; - out_4677544152144015683[262] = 0.0; - out_4677544152144015683[263] = 0.0; - out_4677544152144015683[264] = 0.0; - out_4677544152144015683[265] = 0.0; - out_4677544152144015683[266] = 1.0; - out_4677544152144015683[267] = 0.0; - out_4677544152144015683[268] = 0.0; - out_4677544152144015683[269] = 0.0; - out_4677544152144015683[270] = 0.0; - out_4677544152144015683[271] = 0.0; - out_4677544152144015683[272] = 0.0; - out_4677544152144015683[273] = 0.0; - out_4677544152144015683[274] = 0.0; - out_4677544152144015683[275] = 0.0; - out_4677544152144015683[276] = 0.0; - out_4677544152144015683[277] = 0.0; - out_4677544152144015683[278] = 0.0; - out_4677544152144015683[279] = 0.0; - out_4677544152144015683[280] = 0.0; - out_4677544152144015683[281] = 0.0; - out_4677544152144015683[282] = 0.0; - out_4677544152144015683[283] = 0.0; - out_4677544152144015683[284] = 0.0; - out_4677544152144015683[285] = 1.0; - out_4677544152144015683[286] = 0.0; - out_4677544152144015683[287] = 0.0; - out_4677544152144015683[288] = 0.0; - out_4677544152144015683[289] = 0.0; - out_4677544152144015683[290] = 0.0; - out_4677544152144015683[291] = 0.0; - out_4677544152144015683[292] = 0.0; - out_4677544152144015683[293] = 0.0; - out_4677544152144015683[294] = 0.0; - out_4677544152144015683[295] = 0.0; - out_4677544152144015683[296] = 0.0; - out_4677544152144015683[297] = 0.0; - out_4677544152144015683[298] = 0.0; - out_4677544152144015683[299] = 0.0; - out_4677544152144015683[300] = 0.0; - out_4677544152144015683[301] = 0.0; - out_4677544152144015683[302] = 0.0; - out_4677544152144015683[303] = 0.0; - out_4677544152144015683[304] = 1.0; - out_4677544152144015683[305] = 0.0; - out_4677544152144015683[306] = 0.0; - out_4677544152144015683[307] = 0.0; - out_4677544152144015683[308] = 0.0; - out_4677544152144015683[309] = 0.0; - out_4677544152144015683[310] = 0.0; - out_4677544152144015683[311] = 0.0; - out_4677544152144015683[312] = 0.0; - out_4677544152144015683[313] = 0.0; - out_4677544152144015683[314] = 0.0; - out_4677544152144015683[315] = 0.0; - out_4677544152144015683[316] = 0.0; - out_4677544152144015683[317] = 0.0; - out_4677544152144015683[318] = 0.0; - out_4677544152144015683[319] = 0.0; - out_4677544152144015683[320] = 0.0; - out_4677544152144015683[321] = 0.0; - out_4677544152144015683[322] = 0.0; - out_4677544152144015683[323] = 1.0; +void H_mod_fun(double *state, double *out_1887258982449267152) { + out_1887258982449267152[0] = 1.0; + out_1887258982449267152[1] = 0.0; + out_1887258982449267152[2] = 0.0; + out_1887258982449267152[3] = 0.0; + out_1887258982449267152[4] = 0.0; + out_1887258982449267152[5] = 0.0; + out_1887258982449267152[6] = 0.0; + out_1887258982449267152[7] = 0.0; + out_1887258982449267152[8] = 0.0; + out_1887258982449267152[9] = 0.0; + out_1887258982449267152[10] = 0.0; + out_1887258982449267152[11] = 0.0; + out_1887258982449267152[12] = 0.0; + out_1887258982449267152[13] = 0.0; + out_1887258982449267152[14] = 0.0; + out_1887258982449267152[15] = 0.0; + out_1887258982449267152[16] = 0.0; + out_1887258982449267152[17] = 0.0; + out_1887258982449267152[18] = 0.0; + out_1887258982449267152[19] = 1.0; + out_1887258982449267152[20] = 0.0; + out_1887258982449267152[21] = 0.0; + out_1887258982449267152[22] = 0.0; + out_1887258982449267152[23] = 0.0; + out_1887258982449267152[24] = 0.0; + out_1887258982449267152[25] = 0.0; + out_1887258982449267152[26] = 0.0; + out_1887258982449267152[27] = 0.0; + out_1887258982449267152[28] = 0.0; + out_1887258982449267152[29] = 0.0; + out_1887258982449267152[30] = 0.0; + out_1887258982449267152[31] = 0.0; + out_1887258982449267152[32] = 0.0; + out_1887258982449267152[33] = 0.0; + out_1887258982449267152[34] = 0.0; + out_1887258982449267152[35] = 0.0; + out_1887258982449267152[36] = 0.0; + out_1887258982449267152[37] = 0.0; + out_1887258982449267152[38] = 1.0; + out_1887258982449267152[39] = 0.0; + out_1887258982449267152[40] = 0.0; + out_1887258982449267152[41] = 0.0; + out_1887258982449267152[42] = 0.0; + out_1887258982449267152[43] = 0.0; + out_1887258982449267152[44] = 0.0; + out_1887258982449267152[45] = 0.0; + out_1887258982449267152[46] = 0.0; + out_1887258982449267152[47] = 0.0; + out_1887258982449267152[48] = 0.0; + out_1887258982449267152[49] = 0.0; + out_1887258982449267152[50] = 0.0; + out_1887258982449267152[51] = 0.0; + out_1887258982449267152[52] = 0.0; + out_1887258982449267152[53] = 0.0; + out_1887258982449267152[54] = 0.0; + out_1887258982449267152[55] = 0.0; + out_1887258982449267152[56] = 0.0; + out_1887258982449267152[57] = 1.0; + out_1887258982449267152[58] = 0.0; + out_1887258982449267152[59] = 0.0; + out_1887258982449267152[60] = 0.0; + out_1887258982449267152[61] = 0.0; + out_1887258982449267152[62] = 0.0; + out_1887258982449267152[63] = 0.0; + out_1887258982449267152[64] = 0.0; + out_1887258982449267152[65] = 0.0; + out_1887258982449267152[66] = 0.0; + out_1887258982449267152[67] = 0.0; + out_1887258982449267152[68] = 0.0; + out_1887258982449267152[69] = 0.0; + out_1887258982449267152[70] = 0.0; + out_1887258982449267152[71] = 0.0; + out_1887258982449267152[72] = 0.0; + out_1887258982449267152[73] = 0.0; + out_1887258982449267152[74] = 0.0; + out_1887258982449267152[75] = 0.0; + out_1887258982449267152[76] = 1.0; + out_1887258982449267152[77] = 0.0; + out_1887258982449267152[78] = 0.0; + out_1887258982449267152[79] = 0.0; + out_1887258982449267152[80] = 0.0; + out_1887258982449267152[81] = 0.0; + out_1887258982449267152[82] = 0.0; + out_1887258982449267152[83] = 0.0; + out_1887258982449267152[84] = 0.0; + out_1887258982449267152[85] = 0.0; + out_1887258982449267152[86] = 0.0; + out_1887258982449267152[87] = 0.0; + out_1887258982449267152[88] = 0.0; + out_1887258982449267152[89] = 0.0; + out_1887258982449267152[90] = 0.0; + out_1887258982449267152[91] = 0.0; + out_1887258982449267152[92] = 0.0; + out_1887258982449267152[93] = 0.0; + out_1887258982449267152[94] = 0.0; + out_1887258982449267152[95] = 1.0; + out_1887258982449267152[96] = 0.0; + out_1887258982449267152[97] = 0.0; + out_1887258982449267152[98] = 0.0; + out_1887258982449267152[99] = 0.0; + out_1887258982449267152[100] = 0.0; + out_1887258982449267152[101] = 0.0; + out_1887258982449267152[102] = 0.0; + out_1887258982449267152[103] = 0.0; + out_1887258982449267152[104] = 0.0; + out_1887258982449267152[105] = 0.0; + out_1887258982449267152[106] = 0.0; + out_1887258982449267152[107] = 0.0; + out_1887258982449267152[108] = 0.0; + out_1887258982449267152[109] = 0.0; + out_1887258982449267152[110] = 0.0; + out_1887258982449267152[111] = 0.0; + out_1887258982449267152[112] = 0.0; + out_1887258982449267152[113] = 0.0; + out_1887258982449267152[114] = 1.0; + out_1887258982449267152[115] = 0.0; + out_1887258982449267152[116] = 0.0; + out_1887258982449267152[117] = 0.0; + out_1887258982449267152[118] = 0.0; + out_1887258982449267152[119] = 0.0; + out_1887258982449267152[120] = 0.0; + out_1887258982449267152[121] = 0.0; + out_1887258982449267152[122] = 0.0; + out_1887258982449267152[123] = 0.0; + out_1887258982449267152[124] = 0.0; + out_1887258982449267152[125] = 0.0; + out_1887258982449267152[126] = 0.0; + out_1887258982449267152[127] = 0.0; + out_1887258982449267152[128] = 0.0; + out_1887258982449267152[129] = 0.0; + out_1887258982449267152[130] = 0.0; + out_1887258982449267152[131] = 0.0; + out_1887258982449267152[132] = 0.0; + out_1887258982449267152[133] = 1.0; + out_1887258982449267152[134] = 0.0; + out_1887258982449267152[135] = 0.0; + out_1887258982449267152[136] = 0.0; + out_1887258982449267152[137] = 0.0; + out_1887258982449267152[138] = 0.0; + out_1887258982449267152[139] = 0.0; + out_1887258982449267152[140] = 0.0; + out_1887258982449267152[141] = 0.0; + out_1887258982449267152[142] = 0.0; + out_1887258982449267152[143] = 0.0; + out_1887258982449267152[144] = 0.0; + out_1887258982449267152[145] = 0.0; + out_1887258982449267152[146] = 0.0; + out_1887258982449267152[147] = 0.0; + out_1887258982449267152[148] = 0.0; + out_1887258982449267152[149] = 0.0; + out_1887258982449267152[150] = 0.0; + out_1887258982449267152[151] = 0.0; + out_1887258982449267152[152] = 1.0; + out_1887258982449267152[153] = 0.0; + out_1887258982449267152[154] = 0.0; + out_1887258982449267152[155] = 0.0; + out_1887258982449267152[156] = 0.0; + out_1887258982449267152[157] = 0.0; + out_1887258982449267152[158] = 0.0; + out_1887258982449267152[159] = 0.0; + out_1887258982449267152[160] = 0.0; + out_1887258982449267152[161] = 0.0; + out_1887258982449267152[162] = 0.0; + out_1887258982449267152[163] = 0.0; + out_1887258982449267152[164] = 0.0; + out_1887258982449267152[165] = 0.0; + out_1887258982449267152[166] = 0.0; + out_1887258982449267152[167] = 0.0; + out_1887258982449267152[168] = 0.0; + out_1887258982449267152[169] = 0.0; + out_1887258982449267152[170] = 0.0; + out_1887258982449267152[171] = 1.0; + out_1887258982449267152[172] = 0.0; + out_1887258982449267152[173] = 0.0; + out_1887258982449267152[174] = 0.0; + out_1887258982449267152[175] = 0.0; + out_1887258982449267152[176] = 0.0; + out_1887258982449267152[177] = 0.0; + out_1887258982449267152[178] = 0.0; + out_1887258982449267152[179] = 0.0; + out_1887258982449267152[180] = 0.0; + out_1887258982449267152[181] = 0.0; + out_1887258982449267152[182] = 0.0; + out_1887258982449267152[183] = 0.0; + out_1887258982449267152[184] = 0.0; + out_1887258982449267152[185] = 0.0; + out_1887258982449267152[186] = 0.0; + out_1887258982449267152[187] = 0.0; + out_1887258982449267152[188] = 0.0; + out_1887258982449267152[189] = 0.0; + out_1887258982449267152[190] = 1.0; + out_1887258982449267152[191] = 0.0; + out_1887258982449267152[192] = 0.0; + out_1887258982449267152[193] = 0.0; + out_1887258982449267152[194] = 0.0; + out_1887258982449267152[195] = 0.0; + out_1887258982449267152[196] = 0.0; + out_1887258982449267152[197] = 0.0; + out_1887258982449267152[198] = 0.0; + out_1887258982449267152[199] = 0.0; + out_1887258982449267152[200] = 0.0; + out_1887258982449267152[201] = 0.0; + out_1887258982449267152[202] = 0.0; + out_1887258982449267152[203] = 0.0; + out_1887258982449267152[204] = 0.0; + out_1887258982449267152[205] = 0.0; + out_1887258982449267152[206] = 0.0; + out_1887258982449267152[207] = 0.0; + out_1887258982449267152[208] = 0.0; + out_1887258982449267152[209] = 1.0; + out_1887258982449267152[210] = 0.0; + out_1887258982449267152[211] = 0.0; + out_1887258982449267152[212] = 0.0; + out_1887258982449267152[213] = 0.0; + out_1887258982449267152[214] = 0.0; + out_1887258982449267152[215] = 0.0; + out_1887258982449267152[216] = 0.0; + out_1887258982449267152[217] = 0.0; + out_1887258982449267152[218] = 0.0; + out_1887258982449267152[219] = 0.0; + out_1887258982449267152[220] = 0.0; + out_1887258982449267152[221] = 0.0; + out_1887258982449267152[222] = 0.0; + out_1887258982449267152[223] = 0.0; + out_1887258982449267152[224] = 0.0; + out_1887258982449267152[225] = 0.0; + out_1887258982449267152[226] = 0.0; + out_1887258982449267152[227] = 0.0; + out_1887258982449267152[228] = 1.0; + out_1887258982449267152[229] = 0.0; + out_1887258982449267152[230] = 0.0; + out_1887258982449267152[231] = 0.0; + out_1887258982449267152[232] = 0.0; + out_1887258982449267152[233] = 0.0; + out_1887258982449267152[234] = 0.0; + out_1887258982449267152[235] = 0.0; + out_1887258982449267152[236] = 0.0; + out_1887258982449267152[237] = 0.0; + out_1887258982449267152[238] = 0.0; + out_1887258982449267152[239] = 0.0; + out_1887258982449267152[240] = 0.0; + out_1887258982449267152[241] = 0.0; + out_1887258982449267152[242] = 0.0; + out_1887258982449267152[243] = 0.0; + out_1887258982449267152[244] = 0.0; + out_1887258982449267152[245] = 0.0; + out_1887258982449267152[246] = 0.0; + out_1887258982449267152[247] = 1.0; + out_1887258982449267152[248] = 0.0; + out_1887258982449267152[249] = 0.0; + out_1887258982449267152[250] = 0.0; + out_1887258982449267152[251] = 0.0; + out_1887258982449267152[252] = 0.0; + out_1887258982449267152[253] = 0.0; + out_1887258982449267152[254] = 0.0; + out_1887258982449267152[255] = 0.0; + out_1887258982449267152[256] = 0.0; + out_1887258982449267152[257] = 0.0; + out_1887258982449267152[258] = 0.0; + out_1887258982449267152[259] = 0.0; + out_1887258982449267152[260] = 0.0; + out_1887258982449267152[261] = 0.0; + out_1887258982449267152[262] = 0.0; + out_1887258982449267152[263] = 0.0; + out_1887258982449267152[264] = 0.0; + out_1887258982449267152[265] = 0.0; + out_1887258982449267152[266] = 1.0; + out_1887258982449267152[267] = 0.0; + out_1887258982449267152[268] = 0.0; + out_1887258982449267152[269] = 0.0; + out_1887258982449267152[270] = 0.0; + out_1887258982449267152[271] = 0.0; + out_1887258982449267152[272] = 0.0; + out_1887258982449267152[273] = 0.0; + out_1887258982449267152[274] = 0.0; + out_1887258982449267152[275] = 0.0; + out_1887258982449267152[276] = 0.0; + out_1887258982449267152[277] = 0.0; + out_1887258982449267152[278] = 0.0; + out_1887258982449267152[279] = 0.0; + out_1887258982449267152[280] = 0.0; + out_1887258982449267152[281] = 0.0; + out_1887258982449267152[282] = 0.0; + out_1887258982449267152[283] = 0.0; + out_1887258982449267152[284] = 0.0; + out_1887258982449267152[285] = 1.0; + out_1887258982449267152[286] = 0.0; + out_1887258982449267152[287] = 0.0; + out_1887258982449267152[288] = 0.0; + out_1887258982449267152[289] = 0.0; + out_1887258982449267152[290] = 0.0; + out_1887258982449267152[291] = 0.0; + out_1887258982449267152[292] = 0.0; + out_1887258982449267152[293] = 0.0; + out_1887258982449267152[294] = 0.0; + out_1887258982449267152[295] = 0.0; + out_1887258982449267152[296] = 0.0; + out_1887258982449267152[297] = 0.0; + out_1887258982449267152[298] = 0.0; + out_1887258982449267152[299] = 0.0; + out_1887258982449267152[300] = 0.0; + out_1887258982449267152[301] = 0.0; + out_1887258982449267152[302] = 0.0; + out_1887258982449267152[303] = 0.0; + out_1887258982449267152[304] = 1.0; + out_1887258982449267152[305] = 0.0; + out_1887258982449267152[306] = 0.0; + out_1887258982449267152[307] = 0.0; + out_1887258982449267152[308] = 0.0; + out_1887258982449267152[309] = 0.0; + out_1887258982449267152[310] = 0.0; + out_1887258982449267152[311] = 0.0; + out_1887258982449267152[312] = 0.0; + out_1887258982449267152[313] = 0.0; + out_1887258982449267152[314] = 0.0; + out_1887258982449267152[315] = 0.0; + out_1887258982449267152[316] = 0.0; + out_1887258982449267152[317] = 0.0; + out_1887258982449267152[318] = 0.0; + out_1887258982449267152[319] = 0.0; + out_1887258982449267152[320] = 0.0; + out_1887258982449267152[321] = 0.0; + out_1887258982449267152[322] = 0.0; + out_1887258982449267152[323] = 1.0; } -void f_fun(double *state, double dt, double *out_7013494318329414190) { - out_7013494318329414190[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_7013494318329414190[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_7013494318329414190[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_7013494318329414190[3] = dt*state[12] + state[3]; - out_7013494318329414190[4] = dt*state[13] + state[4]; - out_7013494318329414190[5] = dt*state[14] + state[5]; - out_7013494318329414190[6] = state[6]; - out_7013494318329414190[7] = state[7]; - out_7013494318329414190[8] = state[8]; - out_7013494318329414190[9] = state[9]; - out_7013494318329414190[10] = state[10]; - out_7013494318329414190[11] = state[11]; - out_7013494318329414190[12] = state[12]; - out_7013494318329414190[13] = state[13]; - out_7013494318329414190[14] = state[14]; - out_7013494318329414190[15] = state[15]; - out_7013494318329414190[16] = state[16]; - out_7013494318329414190[17] = state[17]; +void f_fun(double *state, double dt, double *out_2681276694689160944) { + out_2681276694689160944[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_2681276694689160944[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_2681276694689160944[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_2681276694689160944[3] = dt*state[12] + state[3]; + out_2681276694689160944[4] = dt*state[13] + state[4]; + out_2681276694689160944[5] = dt*state[14] + state[5]; + out_2681276694689160944[6] = state[6]; + out_2681276694689160944[7] = state[7]; + out_2681276694689160944[8] = state[8]; + out_2681276694689160944[9] = state[9]; + out_2681276694689160944[10] = state[10]; + out_2681276694689160944[11] = state[11]; + out_2681276694689160944[12] = state[12]; + out_2681276694689160944[13] = state[13]; + out_2681276694689160944[14] = state[14]; + out_2681276694689160944[15] = state[15]; + out_2681276694689160944[16] = state[16]; + out_2681276694689160944[17] = state[17]; } -void F_fun(double *state, double dt, double *out_1354267763168931680) { - out_1354267763168931680[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_1354267763168931680[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_1354267763168931680[2] = 0; - out_1354267763168931680[3] = 0; - out_1354267763168931680[4] = 0; - out_1354267763168931680[5] = 0; - out_1354267763168931680[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_1354267763168931680[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_1354267763168931680[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_1354267763168931680[9] = 0; - out_1354267763168931680[10] = 0; - out_1354267763168931680[11] = 0; - out_1354267763168931680[12] = 0; - out_1354267763168931680[13] = 0; - out_1354267763168931680[14] = 0; - out_1354267763168931680[15] = 0; - out_1354267763168931680[16] = 0; - out_1354267763168931680[17] = 0; - out_1354267763168931680[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_1354267763168931680[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_1354267763168931680[20] = 0; - out_1354267763168931680[21] = 0; - out_1354267763168931680[22] = 0; - out_1354267763168931680[23] = 0; - out_1354267763168931680[24] = 0; - out_1354267763168931680[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_1354267763168931680[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_1354267763168931680[27] = 0; - out_1354267763168931680[28] = 0; - out_1354267763168931680[29] = 0; - out_1354267763168931680[30] = 0; - out_1354267763168931680[31] = 0; - out_1354267763168931680[32] = 0; - out_1354267763168931680[33] = 0; - out_1354267763168931680[34] = 0; - out_1354267763168931680[35] = 0; - out_1354267763168931680[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_1354267763168931680[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_1354267763168931680[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_1354267763168931680[39] = 0; - out_1354267763168931680[40] = 0; - out_1354267763168931680[41] = 0; - out_1354267763168931680[42] = 0; - out_1354267763168931680[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_1354267763168931680[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_1354267763168931680[45] = 0; - out_1354267763168931680[46] = 0; - out_1354267763168931680[47] = 0; - out_1354267763168931680[48] = 0; - out_1354267763168931680[49] = 0; - out_1354267763168931680[50] = 0; - out_1354267763168931680[51] = 0; - out_1354267763168931680[52] = 0; - out_1354267763168931680[53] = 0; - out_1354267763168931680[54] = 0; - out_1354267763168931680[55] = 0; - out_1354267763168931680[56] = 0; - out_1354267763168931680[57] = 1; - out_1354267763168931680[58] = 0; - out_1354267763168931680[59] = 0; - out_1354267763168931680[60] = 0; - out_1354267763168931680[61] = 0; - out_1354267763168931680[62] = 0; - out_1354267763168931680[63] = 0; - out_1354267763168931680[64] = 0; - out_1354267763168931680[65] = 0; - out_1354267763168931680[66] = dt; - out_1354267763168931680[67] = 0; - out_1354267763168931680[68] = 0; - out_1354267763168931680[69] = 0; - out_1354267763168931680[70] = 0; - out_1354267763168931680[71] = 0; - out_1354267763168931680[72] = 0; - out_1354267763168931680[73] = 0; - out_1354267763168931680[74] = 0; - out_1354267763168931680[75] = 0; - out_1354267763168931680[76] = 1; - out_1354267763168931680[77] = 0; - out_1354267763168931680[78] = 0; - out_1354267763168931680[79] = 0; - out_1354267763168931680[80] = 0; - out_1354267763168931680[81] = 0; - out_1354267763168931680[82] = 0; - out_1354267763168931680[83] = 0; - out_1354267763168931680[84] = 0; - out_1354267763168931680[85] = dt; - out_1354267763168931680[86] = 0; - out_1354267763168931680[87] = 0; - out_1354267763168931680[88] = 0; - out_1354267763168931680[89] = 0; - out_1354267763168931680[90] = 0; - out_1354267763168931680[91] = 0; - out_1354267763168931680[92] = 0; - out_1354267763168931680[93] = 0; - out_1354267763168931680[94] = 0; - out_1354267763168931680[95] = 1; - out_1354267763168931680[96] = 0; - out_1354267763168931680[97] = 0; - out_1354267763168931680[98] = 0; - out_1354267763168931680[99] = 0; - out_1354267763168931680[100] = 0; - out_1354267763168931680[101] = 0; - out_1354267763168931680[102] = 0; - out_1354267763168931680[103] = 0; - out_1354267763168931680[104] = dt; - out_1354267763168931680[105] = 0; - out_1354267763168931680[106] = 0; - out_1354267763168931680[107] = 0; - out_1354267763168931680[108] = 0; - out_1354267763168931680[109] = 0; - out_1354267763168931680[110] = 0; - out_1354267763168931680[111] = 0; - out_1354267763168931680[112] = 0; - out_1354267763168931680[113] = 0; - out_1354267763168931680[114] = 1; - out_1354267763168931680[115] = 0; - out_1354267763168931680[116] = 0; - out_1354267763168931680[117] = 0; - out_1354267763168931680[118] = 0; - out_1354267763168931680[119] = 0; - out_1354267763168931680[120] = 0; - out_1354267763168931680[121] = 0; - out_1354267763168931680[122] = 0; - out_1354267763168931680[123] = 0; - out_1354267763168931680[124] = 0; - out_1354267763168931680[125] = 0; - out_1354267763168931680[126] = 0; - out_1354267763168931680[127] = 0; - out_1354267763168931680[128] = 0; - out_1354267763168931680[129] = 0; - out_1354267763168931680[130] = 0; - out_1354267763168931680[131] = 0; - out_1354267763168931680[132] = 0; - out_1354267763168931680[133] = 1; - out_1354267763168931680[134] = 0; - out_1354267763168931680[135] = 0; - out_1354267763168931680[136] = 0; - out_1354267763168931680[137] = 0; - out_1354267763168931680[138] = 0; - out_1354267763168931680[139] = 0; - out_1354267763168931680[140] = 0; - out_1354267763168931680[141] = 0; - out_1354267763168931680[142] = 0; - out_1354267763168931680[143] = 0; - out_1354267763168931680[144] = 0; - out_1354267763168931680[145] = 0; - out_1354267763168931680[146] = 0; - out_1354267763168931680[147] = 0; - out_1354267763168931680[148] = 0; - out_1354267763168931680[149] = 0; - out_1354267763168931680[150] = 0; - out_1354267763168931680[151] = 0; - out_1354267763168931680[152] = 1; - out_1354267763168931680[153] = 0; - out_1354267763168931680[154] = 0; - out_1354267763168931680[155] = 0; - out_1354267763168931680[156] = 0; - out_1354267763168931680[157] = 0; - out_1354267763168931680[158] = 0; - out_1354267763168931680[159] = 0; - out_1354267763168931680[160] = 0; - out_1354267763168931680[161] = 0; - out_1354267763168931680[162] = 0; - out_1354267763168931680[163] = 0; - out_1354267763168931680[164] = 0; - out_1354267763168931680[165] = 0; - out_1354267763168931680[166] = 0; - out_1354267763168931680[167] = 0; - out_1354267763168931680[168] = 0; - out_1354267763168931680[169] = 0; - out_1354267763168931680[170] = 0; - out_1354267763168931680[171] = 1; - out_1354267763168931680[172] = 0; - out_1354267763168931680[173] = 0; - out_1354267763168931680[174] = 0; - out_1354267763168931680[175] = 0; - out_1354267763168931680[176] = 0; - out_1354267763168931680[177] = 0; - out_1354267763168931680[178] = 0; - out_1354267763168931680[179] = 0; - out_1354267763168931680[180] = 0; - out_1354267763168931680[181] = 0; - out_1354267763168931680[182] = 0; - out_1354267763168931680[183] = 0; - out_1354267763168931680[184] = 0; - out_1354267763168931680[185] = 0; - out_1354267763168931680[186] = 0; - out_1354267763168931680[187] = 0; - out_1354267763168931680[188] = 0; - out_1354267763168931680[189] = 0; - out_1354267763168931680[190] = 1; - out_1354267763168931680[191] = 0; - out_1354267763168931680[192] = 0; - out_1354267763168931680[193] = 0; - out_1354267763168931680[194] = 0; - out_1354267763168931680[195] = 0; - out_1354267763168931680[196] = 0; - out_1354267763168931680[197] = 0; - out_1354267763168931680[198] = 0; - out_1354267763168931680[199] = 0; - out_1354267763168931680[200] = 0; - out_1354267763168931680[201] = 0; - out_1354267763168931680[202] = 0; - out_1354267763168931680[203] = 0; - out_1354267763168931680[204] = 0; - out_1354267763168931680[205] = 0; - out_1354267763168931680[206] = 0; - out_1354267763168931680[207] = 0; - out_1354267763168931680[208] = 0; - out_1354267763168931680[209] = 1; - out_1354267763168931680[210] = 0; - out_1354267763168931680[211] = 0; - out_1354267763168931680[212] = 0; - out_1354267763168931680[213] = 0; - out_1354267763168931680[214] = 0; - out_1354267763168931680[215] = 0; - out_1354267763168931680[216] = 0; - out_1354267763168931680[217] = 0; - out_1354267763168931680[218] = 0; - out_1354267763168931680[219] = 0; - out_1354267763168931680[220] = 0; - out_1354267763168931680[221] = 0; - out_1354267763168931680[222] = 0; - out_1354267763168931680[223] = 0; - out_1354267763168931680[224] = 0; - out_1354267763168931680[225] = 0; - out_1354267763168931680[226] = 0; - out_1354267763168931680[227] = 0; - out_1354267763168931680[228] = 1; - out_1354267763168931680[229] = 0; - out_1354267763168931680[230] = 0; - out_1354267763168931680[231] = 0; - out_1354267763168931680[232] = 0; - out_1354267763168931680[233] = 0; - out_1354267763168931680[234] = 0; - out_1354267763168931680[235] = 0; - out_1354267763168931680[236] = 0; - out_1354267763168931680[237] = 0; - out_1354267763168931680[238] = 0; - out_1354267763168931680[239] = 0; - out_1354267763168931680[240] = 0; - out_1354267763168931680[241] = 0; - out_1354267763168931680[242] = 0; - out_1354267763168931680[243] = 0; - out_1354267763168931680[244] = 0; - out_1354267763168931680[245] = 0; - out_1354267763168931680[246] = 0; - out_1354267763168931680[247] = 1; - out_1354267763168931680[248] = 0; - out_1354267763168931680[249] = 0; - out_1354267763168931680[250] = 0; - out_1354267763168931680[251] = 0; - out_1354267763168931680[252] = 0; - out_1354267763168931680[253] = 0; - out_1354267763168931680[254] = 0; - out_1354267763168931680[255] = 0; - out_1354267763168931680[256] = 0; - out_1354267763168931680[257] = 0; - out_1354267763168931680[258] = 0; - out_1354267763168931680[259] = 0; - out_1354267763168931680[260] = 0; - out_1354267763168931680[261] = 0; - out_1354267763168931680[262] = 0; - out_1354267763168931680[263] = 0; - out_1354267763168931680[264] = 0; - out_1354267763168931680[265] = 0; - out_1354267763168931680[266] = 1; - out_1354267763168931680[267] = 0; - out_1354267763168931680[268] = 0; - out_1354267763168931680[269] = 0; - out_1354267763168931680[270] = 0; - out_1354267763168931680[271] = 0; - out_1354267763168931680[272] = 0; - out_1354267763168931680[273] = 0; - out_1354267763168931680[274] = 0; - out_1354267763168931680[275] = 0; - out_1354267763168931680[276] = 0; - out_1354267763168931680[277] = 0; - out_1354267763168931680[278] = 0; - out_1354267763168931680[279] = 0; - out_1354267763168931680[280] = 0; - out_1354267763168931680[281] = 0; - out_1354267763168931680[282] = 0; - out_1354267763168931680[283] = 0; - out_1354267763168931680[284] = 0; - out_1354267763168931680[285] = 1; - out_1354267763168931680[286] = 0; - out_1354267763168931680[287] = 0; - out_1354267763168931680[288] = 0; - out_1354267763168931680[289] = 0; - out_1354267763168931680[290] = 0; - out_1354267763168931680[291] = 0; - out_1354267763168931680[292] = 0; - out_1354267763168931680[293] = 0; - out_1354267763168931680[294] = 0; - out_1354267763168931680[295] = 0; - out_1354267763168931680[296] = 0; - out_1354267763168931680[297] = 0; - out_1354267763168931680[298] = 0; - out_1354267763168931680[299] = 0; - out_1354267763168931680[300] = 0; - out_1354267763168931680[301] = 0; - out_1354267763168931680[302] = 0; - out_1354267763168931680[303] = 0; - out_1354267763168931680[304] = 1; - out_1354267763168931680[305] = 0; - out_1354267763168931680[306] = 0; - out_1354267763168931680[307] = 0; - out_1354267763168931680[308] = 0; - out_1354267763168931680[309] = 0; - out_1354267763168931680[310] = 0; - out_1354267763168931680[311] = 0; - out_1354267763168931680[312] = 0; - out_1354267763168931680[313] = 0; - out_1354267763168931680[314] = 0; - out_1354267763168931680[315] = 0; - out_1354267763168931680[316] = 0; - out_1354267763168931680[317] = 0; - out_1354267763168931680[318] = 0; - out_1354267763168931680[319] = 0; - out_1354267763168931680[320] = 0; - out_1354267763168931680[321] = 0; - out_1354267763168931680[322] = 0; - out_1354267763168931680[323] = 1; +void F_fun(double *state, double dt, double *out_6011099377550215473) { + out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[2] = 0; + out_6011099377550215473[3] = 0; + out_6011099377550215473[4] = 0; + out_6011099377550215473[5] = 0; + out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[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_6011099377550215473[9] = 0; + out_6011099377550215473[10] = 0; + out_6011099377550215473[11] = 0; + out_6011099377550215473[12] = 0; + out_6011099377550215473[13] = 0; + out_6011099377550215473[14] = 0; + out_6011099377550215473[15] = 0; + out_6011099377550215473[16] = 0; + out_6011099377550215473[17] = 0; + out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[20] = 0; + out_6011099377550215473[21] = 0; + out_6011099377550215473[22] = 0; + out_6011099377550215473[23] = 0; + out_6011099377550215473[24] = 0; + out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[27] = 0; + out_6011099377550215473[28] = 0; + out_6011099377550215473[29] = 0; + out_6011099377550215473[30] = 0; + out_6011099377550215473[31] = 0; + out_6011099377550215473[32] = 0; + out_6011099377550215473[33] = 0; + out_6011099377550215473[34] = 0; + out_6011099377550215473[35] = 0; + out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[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_6011099377550215473[39] = 0; + out_6011099377550215473[40] = 0; + out_6011099377550215473[41] = 0; + out_6011099377550215473[42] = 0; + out_6011099377550215473[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_6011099377550215473[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_6011099377550215473[45] = 0; + out_6011099377550215473[46] = 0; + out_6011099377550215473[47] = 0; + out_6011099377550215473[48] = 0; + out_6011099377550215473[49] = 0; + out_6011099377550215473[50] = 0; + out_6011099377550215473[51] = 0; + out_6011099377550215473[52] = 0; + out_6011099377550215473[53] = 0; + out_6011099377550215473[54] = 0; + out_6011099377550215473[55] = 0; + out_6011099377550215473[56] = 0; + out_6011099377550215473[57] = 1; + out_6011099377550215473[58] = 0; + out_6011099377550215473[59] = 0; + out_6011099377550215473[60] = 0; + out_6011099377550215473[61] = 0; + out_6011099377550215473[62] = 0; + out_6011099377550215473[63] = 0; + out_6011099377550215473[64] = 0; + out_6011099377550215473[65] = 0; + out_6011099377550215473[66] = dt; + out_6011099377550215473[67] = 0; + out_6011099377550215473[68] = 0; + out_6011099377550215473[69] = 0; + out_6011099377550215473[70] = 0; + out_6011099377550215473[71] = 0; + out_6011099377550215473[72] = 0; + out_6011099377550215473[73] = 0; + out_6011099377550215473[74] = 0; + out_6011099377550215473[75] = 0; + out_6011099377550215473[76] = 1; + out_6011099377550215473[77] = 0; + out_6011099377550215473[78] = 0; + out_6011099377550215473[79] = 0; + out_6011099377550215473[80] = 0; + out_6011099377550215473[81] = 0; + out_6011099377550215473[82] = 0; + out_6011099377550215473[83] = 0; + out_6011099377550215473[84] = 0; + out_6011099377550215473[85] = dt; + out_6011099377550215473[86] = 0; + out_6011099377550215473[87] = 0; + out_6011099377550215473[88] = 0; + out_6011099377550215473[89] = 0; + out_6011099377550215473[90] = 0; + out_6011099377550215473[91] = 0; + out_6011099377550215473[92] = 0; + out_6011099377550215473[93] = 0; + out_6011099377550215473[94] = 0; + out_6011099377550215473[95] = 1; + out_6011099377550215473[96] = 0; + out_6011099377550215473[97] = 0; + out_6011099377550215473[98] = 0; + out_6011099377550215473[99] = 0; + out_6011099377550215473[100] = 0; + out_6011099377550215473[101] = 0; + out_6011099377550215473[102] = 0; + out_6011099377550215473[103] = 0; + out_6011099377550215473[104] = dt; + out_6011099377550215473[105] = 0; + out_6011099377550215473[106] = 0; + out_6011099377550215473[107] = 0; + out_6011099377550215473[108] = 0; + out_6011099377550215473[109] = 0; + out_6011099377550215473[110] = 0; + out_6011099377550215473[111] = 0; + out_6011099377550215473[112] = 0; + out_6011099377550215473[113] = 0; + out_6011099377550215473[114] = 1; + out_6011099377550215473[115] = 0; + out_6011099377550215473[116] = 0; + out_6011099377550215473[117] = 0; + out_6011099377550215473[118] = 0; + out_6011099377550215473[119] = 0; + out_6011099377550215473[120] = 0; + out_6011099377550215473[121] = 0; + out_6011099377550215473[122] = 0; + out_6011099377550215473[123] = 0; + out_6011099377550215473[124] = 0; + out_6011099377550215473[125] = 0; + out_6011099377550215473[126] = 0; + out_6011099377550215473[127] = 0; + out_6011099377550215473[128] = 0; + out_6011099377550215473[129] = 0; + out_6011099377550215473[130] = 0; + out_6011099377550215473[131] = 0; + out_6011099377550215473[132] = 0; + out_6011099377550215473[133] = 1; + out_6011099377550215473[134] = 0; + out_6011099377550215473[135] = 0; + out_6011099377550215473[136] = 0; + out_6011099377550215473[137] = 0; + out_6011099377550215473[138] = 0; + out_6011099377550215473[139] = 0; + out_6011099377550215473[140] = 0; + out_6011099377550215473[141] = 0; + out_6011099377550215473[142] = 0; + out_6011099377550215473[143] = 0; + out_6011099377550215473[144] = 0; + out_6011099377550215473[145] = 0; + out_6011099377550215473[146] = 0; + out_6011099377550215473[147] = 0; + out_6011099377550215473[148] = 0; + out_6011099377550215473[149] = 0; + out_6011099377550215473[150] = 0; + out_6011099377550215473[151] = 0; + out_6011099377550215473[152] = 1; + out_6011099377550215473[153] = 0; + out_6011099377550215473[154] = 0; + out_6011099377550215473[155] = 0; + out_6011099377550215473[156] = 0; + out_6011099377550215473[157] = 0; + out_6011099377550215473[158] = 0; + out_6011099377550215473[159] = 0; + out_6011099377550215473[160] = 0; + out_6011099377550215473[161] = 0; + out_6011099377550215473[162] = 0; + out_6011099377550215473[163] = 0; + out_6011099377550215473[164] = 0; + out_6011099377550215473[165] = 0; + out_6011099377550215473[166] = 0; + out_6011099377550215473[167] = 0; + out_6011099377550215473[168] = 0; + out_6011099377550215473[169] = 0; + out_6011099377550215473[170] = 0; + out_6011099377550215473[171] = 1; + out_6011099377550215473[172] = 0; + out_6011099377550215473[173] = 0; + out_6011099377550215473[174] = 0; + out_6011099377550215473[175] = 0; + out_6011099377550215473[176] = 0; + out_6011099377550215473[177] = 0; + out_6011099377550215473[178] = 0; + out_6011099377550215473[179] = 0; + out_6011099377550215473[180] = 0; + out_6011099377550215473[181] = 0; + out_6011099377550215473[182] = 0; + out_6011099377550215473[183] = 0; + out_6011099377550215473[184] = 0; + out_6011099377550215473[185] = 0; + out_6011099377550215473[186] = 0; + out_6011099377550215473[187] = 0; + out_6011099377550215473[188] = 0; + out_6011099377550215473[189] = 0; + out_6011099377550215473[190] = 1; + out_6011099377550215473[191] = 0; + out_6011099377550215473[192] = 0; + out_6011099377550215473[193] = 0; + out_6011099377550215473[194] = 0; + out_6011099377550215473[195] = 0; + out_6011099377550215473[196] = 0; + out_6011099377550215473[197] = 0; + out_6011099377550215473[198] = 0; + out_6011099377550215473[199] = 0; + out_6011099377550215473[200] = 0; + out_6011099377550215473[201] = 0; + out_6011099377550215473[202] = 0; + out_6011099377550215473[203] = 0; + out_6011099377550215473[204] = 0; + out_6011099377550215473[205] = 0; + out_6011099377550215473[206] = 0; + out_6011099377550215473[207] = 0; + out_6011099377550215473[208] = 0; + out_6011099377550215473[209] = 1; + out_6011099377550215473[210] = 0; + out_6011099377550215473[211] = 0; + out_6011099377550215473[212] = 0; + out_6011099377550215473[213] = 0; + out_6011099377550215473[214] = 0; + out_6011099377550215473[215] = 0; + out_6011099377550215473[216] = 0; + out_6011099377550215473[217] = 0; + out_6011099377550215473[218] = 0; + out_6011099377550215473[219] = 0; + out_6011099377550215473[220] = 0; + out_6011099377550215473[221] = 0; + out_6011099377550215473[222] = 0; + out_6011099377550215473[223] = 0; + out_6011099377550215473[224] = 0; + out_6011099377550215473[225] = 0; + out_6011099377550215473[226] = 0; + out_6011099377550215473[227] = 0; + out_6011099377550215473[228] = 1; + out_6011099377550215473[229] = 0; + out_6011099377550215473[230] = 0; + out_6011099377550215473[231] = 0; + out_6011099377550215473[232] = 0; + out_6011099377550215473[233] = 0; + out_6011099377550215473[234] = 0; + out_6011099377550215473[235] = 0; + out_6011099377550215473[236] = 0; + out_6011099377550215473[237] = 0; + out_6011099377550215473[238] = 0; + out_6011099377550215473[239] = 0; + out_6011099377550215473[240] = 0; + out_6011099377550215473[241] = 0; + out_6011099377550215473[242] = 0; + out_6011099377550215473[243] = 0; + out_6011099377550215473[244] = 0; + out_6011099377550215473[245] = 0; + out_6011099377550215473[246] = 0; + out_6011099377550215473[247] = 1; + out_6011099377550215473[248] = 0; + out_6011099377550215473[249] = 0; + out_6011099377550215473[250] = 0; + out_6011099377550215473[251] = 0; + out_6011099377550215473[252] = 0; + out_6011099377550215473[253] = 0; + out_6011099377550215473[254] = 0; + out_6011099377550215473[255] = 0; + out_6011099377550215473[256] = 0; + out_6011099377550215473[257] = 0; + out_6011099377550215473[258] = 0; + out_6011099377550215473[259] = 0; + out_6011099377550215473[260] = 0; + out_6011099377550215473[261] = 0; + out_6011099377550215473[262] = 0; + out_6011099377550215473[263] = 0; + out_6011099377550215473[264] = 0; + out_6011099377550215473[265] = 0; + out_6011099377550215473[266] = 1; + out_6011099377550215473[267] = 0; + out_6011099377550215473[268] = 0; + out_6011099377550215473[269] = 0; + out_6011099377550215473[270] = 0; + out_6011099377550215473[271] = 0; + out_6011099377550215473[272] = 0; + out_6011099377550215473[273] = 0; + out_6011099377550215473[274] = 0; + out_6011099377550215473[275] = 0; + out_6011099377550215473[276] = 0; + out_6011099377550215473[277] = 0; + out_6011099377550215473[278] = 0; + out_6011099377550215473[279] = 0; + out_6011099377550215473[280] = 0; + out_6011099377550215473[281] = 0; + out_6011099377550215473[282] = 0; + out_6011099377550215473[283] = 0; + out_6011099377550215473[284] = 0; + out_6011099377550215473[285] = 1; + out_6011099377550215473[286] = 0; + out_6011099377550215473[287] = 0; + out_6011099377550215473[288] = 0; + out_6011099377550215473[289] = 0; + out_6011099377550215473[290] = 0; + out_6011099377550215473[291] = 0; + out_6011099377550215473[292] = 0; + out_6011099377550215473[293] = 0; + out_6011099377550215473[294] = 0; + out_6011099377550215473[295] = 0; + out_6011099377550215473[296] = 0; + out_6011099377550215473[297] = 0; + out_6011099377550215473[298] = 0; + out_6011099377550215473[299] = 0; + out_6011099377550215473[300] = 0; + out_6011099377550215473[301] = 0; + out_6011099377550215473[302] = 0; + out_6011099377550215473[303] = 0; + out_6011099377550215473[304] = 1; + out_6011099377550215473[305] = 0; + out_6011099377550215473[306] = 0; + out_6011099377550215473[307] = 0; + out_6011099377550215473[308] = 0; + out_6011099377550215473[309] = 0; + out_6011099377550215473[310] = 0; + out_6011099377550215473[311] = 0; + out_6011099377550215473[312] = 0; + out_6011099377550215473[313] = 0; + out_6011099377550215473[314] = 0; + out_6011099377550215473[315] = 0; + out_6011099377550215473[316] = 0; + out_6011099377550215473[317] = 0; + out_6011099377550215473[318] = 0; + out_6011099377550215473[319] = 0; + out_6011099377550215473[320] = 0; + out_6011099377550215473[321] = 0; + out_6011099377550215473[322] = 0; + out_6011099377550215473[323] = 1; } -void h_4(double *state, double *unused, double *out_4996940222577203074) { - out_4996940222577203074[0] = state[6] + state[9]; - out_4996940222577203074[1] = state[7] + state[10]; - out_4996940222577203074[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5478412217433972001) { + out_5478412217433972001[0] = state[6] + state[9]; + out_5478412217433972001[1] = state[7] + state[10]; + out_5478412217433972001[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1403322073353066430) { - out_1403322073353066430[0] = 0; - out_1403322073353066430[1] = 0; - out_1403322073353066430[2] = 0; - out_1403322073353066430[3] = 0; - out_1403322073353066430[4] = 0; - out_1403322073353066430[5] = 0; - out_1403322073353066430[6] = 1; - out_1403322073353066430[7] = 0; - out_1403322073353066430[8] = 0; - out_1403322073353066430[9] = 1; - out_1403322073353066430[10] = 0; - out_1403322073353066430[11] = 0; - out_1403322073353066430[12] = 0; - out_1403322073353066430[13] = 0; - out_1403322073353066430[14] = 0; - out_1403322073353066430[15] = 0; - out_1403322073353066430[16] = 0; - out_1403322073353066430[17] = 0; - out_1403322073353066430[18] = 0; - out_1403322073353066430[19] = 0; - out_1403322073353066430[20] = 0; - out_1403322073353066430[21] = 0; - out_1403322073353066430[22] = 0; - out_1403322073353066430[23] = 0; - out_1403322073353066430[24] = 0; - out_1403322073353066430[25] = 1; - out_1403322073353066430[26] = 0; - out_1403322073353066430[27] = 0; - out_1403322073353066430[28] = 1; - out_1403322073353066430[29] = 0; - out_1403322073353066430[30] = 0; - out_1403322073353066430[31] = 0; - out_1403322073353066430[32] = 0; - out_1403322073353066430[33] = 0; - out_1403322073353066430[34] = 0; - out_1403322073353066430[35] = 0; - out_1403322073353066430[36] = 0; - out_1403322073353066430[37] = 0; - out_1403322073353066430[38] = 0; - out_1403322073353066430[39] = 0; - out_1403322073353066430[40] = 0; - out_1403322073353066430[41] = 0; - out_1403322073353066430[42] = 0; - out_1403322073353066430[43] = 0; - out_1403322073353066430[44] = 1; - out_1403322073353066430[45] = 0; - out_1403322073353066430[46] = 0; - out_1403322073353066430[47] = 1; - out_1403322073353066430[48] = 0; - out_1403322073353066430[49] = 0; - out_1403322073353066430[50] = 0; - out_1403322073353066430[51] = 0; - out_1403322073353066430[52] = 0; - out_1403322073353066430[53] = 0; +void H_4(double *state, double *unused, double *out_3085206464332165256) { + out_3085206464332165256[0] = 0; + out_3085206464332165256[1] = 0; + out_3085206464332165256[2] = 0; + out_3085206464332165256[3] = 0; + out_3085206464332165256[4] = 0; + out_3085206464332165256[5] = 0; + out_3085206464332165256[6] = 1; + out_3085206464332165256[7] = 0; + out_3085206464332165256[8] = 0; + out_3085206464332165256[9] = 1; + out_3085206464332165256[10] = 0; + out_3085206464332165256[11] = 0; + out_3085206464332165256[12] = 0; + out_3085206464332165256[13] = 0; + out_3085206464332165256[14] = 0; + out_3085206464332165256[15] = 0; + out_3085206464332165256[16] = 0; + out_3085206464332165256[17] = 0; + out_3085206464332165256[18] = 0; + out_3085206464332165256[19] = 0; + out_3085206464332165256[20] = 0; + out_3085206464332165256[21] = 0; + out_3085206464332165256[22] = 0; + out_3085206464332165256[23] = 0; + out_3085206464332165256[24] = 0; + out_3085206464332165256[25] = 1; + out_3085206464332165256[26] = 0; + out_3085206464332165256[27] = 0; + out_3085206464332165256[28] = 1; + out_3085206464332165256[29] = 0; + out_3085206464332165256[30] = 0; + out_3085206464332165256[31] = 0; + out_3085206464332165256[32] = 0; + out_3085206464332165256[33] = 0; + out_3085206464332165256[34] = 0; + out_3085206464332165256[35] = 0; + out_3085206464332165256[36] = 0; + out_3085206464332165256[37] = 0; + out_3085206464332165256[38] = 0; + out_3085206464332165256[39] = 0; + out_3085206464332165256[40] = 0; + out_3085206464332165256[41] = 0; + out_3085206464332165256[42] = 0; + out_3085206464332165256[43] = 0; + out_3085206464332165256[44] = 1; + out_3085206464332165256[45] = 0; + out_3085206464332165256[46] = 0; + out_3085206464332165256[47] = 1; + out_3085206464332165256[48] = 0; + out_3085206464332165256[49] = 0; + out_3085206464332165256[50] = 0; + out_3085206464332165256[51] = 0; + out_3085206464332165256[52] = 0; + out_3085206464332165256[53] = 0; } -void h_10(double *state, double *unused, double *out_4736471881593411299) { - out_4736471881593411299[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4736471881593411299[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4736471881593411299[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_5861828944145935890) { + out_5861828944145935890[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5861828944145935890[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5861828944145935890[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_6592862647789865695) { - out_6592862647789865695[0] = 0; - out_6592862647789865695[1] = 9.8100000000000005*cos(state[1]); - out_6592862647789865695[2] = 0; - out_6592862647789865695[3] = 0; - out_6592862647789865695[4] = -state[8]; - out_6592862647789865695[5] = state[7]; - out_6592862647789865695[6] = 0; - out_6592862647789865695[7] = state[5]; - out_6592862647789865695[8] = -state[4]; - out_6592862647789865695[9] = 0; - out_6592862647789865695[10] = 0; - out_6592862647789865695[11] = 0; - out_6592862647789865695[12] = 1; - out_6592862647789865695[13] = 0; - out_6592862647789865695[14] = 0; - out_6592862647789865695[15] = 1; - out_6592862647789865695[16] = 0; - out_6592862647789865695[17] = 0; - out_6592862647789865695[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6592862647789865695[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6592862647789865695[20] = 0; - out_6592862647789865695[21] = state[8]; - out_6592862647789865695[22] = 0; - out_6592862647789865695[23] = -state[6]; - out_6592862647789865695[24] = -state[5]; - out_6592862647789865695[25] = 0; - out_6592862647789865695[26] = state[3]; - out_6592862647789865695[27] = 0; - out_6592862647789865695[28] = 0; - out_6592862647789865695[29] = 0; - out_6592862647789865695[30] = 0; - out_6592862647789865695[31] = 1; - out_6592862647789865695[32] = 0; - out_6592862647789865695[33] = 0; - out_6592862647789865695[34] = 1; - out_6592862647789865695[35] = 0; - out_6592862647789865695[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6592862647789865695[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6592862647789865695[38] = 0; - out_6592862647789865695[39] = -state[7]; - out_6592862647789865695[40] = state[6]; - out_6592862647789865695[41] = 0; - out_6592862647789865695[42] = state[4]; - out_6592862647789865695[43] = -state[3]; - out_6592862647789865695[44] = 0; - out_6592862647789865695[45] = 0; - out_6592862647789865695[46] = 0; - out_6592862647789865695[47] = 0; - out_6592862647789865695[48] = 0; - out_6592862647789865695[49] = 0; - out_6592862647789865695[50] = 1; - out_6592862647789865695[51] = 0; - out_6592862647789865695[52] = 0; - out_6592862647789865695[53] = 1; +void H_10(double *state, double *unused, double *out_1460352446362739633) { + out_1460352446362739633[0] = 0; + out_1460352446362739633[1] = 9.8100000000000005*cos(state[1]); + out_1460352446362739633[2] = 0; + out_1460352446362739633[3] = 0; + out_1460352446362739633[4] = -state[8]; + out_1460352446362739633[5] = state[7]; + out_1460352446362739633[6] = 0; + out_1460352446362739633[7] = state[5]; + out_1460352446362739633[8] = -state[4]; + out_1460352446362739633[9] = 0; + out_1460352446362739633[10] = 0; + out_1460352446362739633[11] = 0; + out_1460352446362739633[12] = 1; + out_1460352446362739633[13] = 0; + out_1460352446362739633[14] = 0; + out_1460352446362739633[15] = 1; + out_1460352446362739633[16] = 0; + out_1460352446362739633[17] = 0; + out_1460352446362739633[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1460352446362739633[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1460352446362739633[20] = 0; + out_1460352446362739633[21] = state[8]; + out_1460352446362739633[22] = 0; + out_1460352446362739633[23] = -state[6]; + out_1460352446362739633[24] = -state[5]; + out_1460352446362739633[25] = 0; + out_1460352446362739633[26] = state[3]; + out_1460352446362739633[27] = 0; + out_1460352446362739633[28] = 0; + out_1460352446362739633[29] = 0; + out_1460352446362739633[30] = 0; + out_1460352446362739633[31] = 1; + out_1460352446362739633[32] = 0; + out_1460352446362739633[33] = 0; + out_1460352446362739633[34] = 1; + out_1460352446362739633[35] = 0; + out_1460352446362739633[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1460352446362739633[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1460352446362739633[38] = 0; + out_1460352446362739633[39] = -state[7]; + out_1460352446362739633[40] = state[6]; + out_1460352446362739633[41] = 0; + out_1460352446362739633[42] = state[4]; + out_1460352446362739633[43] = -state[3]; + out_1460352446362739633[44] = 0; + out_1460352446362739633[45] = 0; + out_1460352446362739633[46] = 0; + out_1460352446362739633[47] = 0; + out_1460352446362739633[48] = 0; + out_1460352446362739633[49] = 0; + out_1460352446362739633[50] = 1; + out_1460352446362739633[51] = 0; + out_1460352446362739633[52] = 0; + out_1460352446362739633[53] = 1; } -void h_13(double *state, double *unused, double *out_4300313025089579851) { - out_4300313025089579851[0] = state[3]; - out_4300313025089579851[1] = state[4]; - out_4300313025089579851[2] = state[5]; +void h_13(double *state, double *unused, double *out_6845339361600931042) { + out_6845339361600931042[0] = state[3]; + out_6845339361600931042[1] = state[4]; + out_6845339361600931042[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4615595898685399231) { - out_4615595898685399231[0] = 0; - out_4615595898685399231[1] = 0; - out_4615595898685399231[2] = 0; - out_4615595898685399231[3] = 1; - out_4615595898685399231[4] = 0; - out_4615595898685399231[5] = 0; - out_4615595898685399231[6] = 0; - out_4615595898685399231[7] = 0; - out_4615595898685399231[8] = 0; - out_4615595898685399231[9] = 0; - out_4615595898685399231[10] = 0; - out_4615595898685399231[11] = 0; - out_4615595898685399231[12] = 0; - out_4615595898685399231[13] = 0; - out_4615595898685399231[14] = 0; - out_4615595898685399231[15] = 0; - out_4615595898685399231[16] = 0; - out_4615595898685399231[17] = 0; - out_4615595898685399231[18] = 0; - out_4615595898685399231[19] = 0; - out_4615595898685399231[20] = 0; - out_4615595898685399231[21] = 0; - out_4615595898685399231[22] = 1; - out_4615595898685399231[23] = 0; - out_4615595898685399231[24] = 0; - out_4615595898685399231[25] = 0; - out_4615595898685399231[26] = 0; - out_4615595898685399231[27] = 0; - out_4615595898685399231[28] = 0; - out_4615595898685399231[29] = 0; - out_4615595898685399231[30] = 0; - out_4615595898685399231[31] = 0; - out_4615595898685399231[32] = 0; - out_4615595898685399231[33] = 0; - out_4615595898685399231[34] = 0; - out_4615595898685399231[35] = 0; - out_4615595898685399231[36] = 0; - out_4615595898685399231[37] = 0; - out_4615595898685399231[38] = 0; - out_4615595898685399231[39] = 0; - out_4615595898685399231[40] = 0; - out_4615595898685399231[41] = 1; - out_4615595898685399231[42] = 0; - out_4615595898685399231[43] = 0; - out_4615595898685399231[44] = 0; - out_4615595898685399231[45] = 0; - out_4615595898685399231[46] = 0; - out_4615595898685399231[47] = 0; - out_4615595898685399231[48] = 0; - out_4615595898685399231[49] = 0; - out_4615595898685399231[50] = 0; - out_4615595898685399231[51] = 0; - out_4615595898685399231[52] = 0; - out_4615595898685399231[53] = 0; +void H_13(double *state, double *unused, double *out_6297480289664498057) { + out_6297480289664498057[0] = 0; + out_6297480289664498057[1] = 0; + out_6297480289664498057[2] = 0; + out_6297480289664498057[3] = 1; + out_6297480289664498057[4] = 0; + out_6297480289664498057[5] = 0; + out_6297480289664498057[6] = 0; + out_6297480289664498057[7] = 0; + out_6297480289664498057[8] = 0; + out_6297480289664498057[9] = 0; + out_6297480289664498057[10] = 0; + out_6297480289664498057[11] = 0; + out_6297480289664498057[12] = 0; + out_6297480289664498057[13] = 0; + out_6297480289664498057[14] = 0; + out_6297480289664498057[15] = 0; + out_6297480289664498057[16] = 0; + out_6297480289664498057[17] = 0; + out_6297480289664498057[18] = 0; + out_6297480289664498057[19] = 0; + out_6297480289664498057[20] = 0; + out_6297480289664498057[21] = 0; + out_6297480289664498057[22] = 1; + out_6297480289664498057[23] = 0; + out_6297480289664498057[24] = 0; + out_6297480289664498057[25] = 0; + out_6297480289664498057[26] = 0; + out_6297480289664498057[27] = 0; + out_6297480289664498057[28] = 0; + out_6297480289664498057[29] = 0; + out_6297480289664498057[30] = 0; + out_6297480289664498057[31] = 0; + out_6297480289664498057[32] = 0; + out_6297480289664498057[33] = 0; + out_6297480289664498057[34] = 0; + out_6297480289664498057[35] = 0; + out_6297480289664498057[36] = 0; + out_6297480289664498057[37] = 0; + out_6297480289664498057[38] = 0; + out_6297480289664498057[39] = 0; + out_6297480289664498057[40] = 0; + out_6297480289664498057[41] = 1; + out_6297480289664498057[42] = 0; + out_6297480289664498057[43] = 0; + out_6297480289664498057[44] = 0; + out_6297480289664498057[45] = 0; + out_6297480289664498057[46] = 0; + out_6297480289664498057[47] = 0; + out_6297480289664498057[48] = 0; + out_6297480289664498057[49] = 0; + out_6297480289664498057[50] = 0; + out_6297480289664498057[51] = 0; + out_6297480289664498057[52] = 0; + out_6297480289664498057[53] = 0; } -void h_14(double *state, double *unused, double *out_4861809331317933851) { - out_4861809331317933851[0] = state[6]; - out_4861809331317933851[1] = state[7]; - out_4861809331317933851[2] = state[8]; +void h_14(double *state, double *unused, double *out_6355309693456612665) { + out_6355309693456612665[0] = state[6]; + out_6355309693456612665[1] = state[7]; + out_6355309693456612665[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5366562929692550959) { - out_5366562929692550959[0] = 0; - out_5366562929692550959[1] = 0; - out_5366562929692550959[2] = 0; - out_5366562929692550959[3] = 0; - out_5366562929692550959[4] = 0; - out_5366562929692550959[5] = 0; - out_5366562929692550959[6] = 1; - out_5366562929692550959[7] = 0; - out_5366562929692550959[8] = 0; - out_5366562929692550959[9] = 0; - out_5366562929692550959[10] = 0; - out_5366562929692550959[11] = 0; - out_5366562929692550959[12] = 0; - out_5366562929692550959[13] = 0; - out_5366562929692550959[14] = 0; - out_5366562929692550959[15] = 0; - out_5366562929692550959[16] = 0; - out_5366562929692550959[17] = 0; - out_5366562929692550959[18] = 0; - out_5366562929692550959[19] = 0; - out_5366562929692550959[20] = 0; - out_5366562929692550959[21] = 0; - out_5366562929692550959[22] = 0; - out_5366562929692550959[23] = 0; - out_5366562929692550959[24] = 0; - out_5366562929692550959[25] = 1; - out_5366562929692550959[26] = 0; - out_5366562929692550959[27] = 0; - out_5366562929692550959[28] = 0; - out_5366562929692550959[29] = 0; - out_5366562929692550959[30] = 0; - out_5366562929692550959[31] = 0; - out_5366562929692550959[32] = 0; - out_5366562929692550959[33] = 0; - out_5366562929692550959[34] = 0; - out_5366562929692550959[35] = 0; - out_5366562929692550959[36] = 0; - out_5366562929692550959[37] = 0; - out_5366562929692550959[38] = 0; - out_5366562929692550959[39] = 0; - out_5366562929692550959[40] = 0; - out_5366562929692550959[41] = 0; - out_5366562929692550959[42] = 0; - out_5366562929692550959[43] = 0; - out_5366562929692550959[44] = 1; - out_5366562929692550959[45] = 0; - out_5366562929692550959[46] = 0; - out_5366562929692550959[47] = 0; - out_5366562929692550959[48] = 0; - out_5366562929692550959[49] = 0; - out_5366562929692550959[50] = 0; - out_5366562929692550959[51] = 0; - out_5366562929692550959[52] = 0; - out_5366562929692550959[53] = 0; +void H_14(double *state, double *unused, double *out_2418032036792960) { + out_2418032036792960[0] = 0; + out_2418032036792960[1] = 0; + out_2418032036792960[2] = 0; + out_2418032036792960[3] = 0; + out_2418032036792960[4] = 0; + out_2418032036792960[5] = 0; + out_2418032036792960[6] = 1; + out_2418032036792960[7] = 0; + out_2418032036792960[8] = 0; + out_2418032036792960[9] = 0; + out_2418032036792960[10] = 0; + out_2418032036792960[11] = 0; + out_2418032036792960[12] = 0; + out_2418032036792960[13] = 0; + out_2418032036792960[14] = 0; + out_2418032036792960[15] = 0; + out_2418032036792960[16] = 0; + out_2418032036792960[17] = 0; + out_2418032036792960[18] = 0; + out_2418032036792960[19] = 0; + out_2418032036792960[20] = 0; + out_2418032036792960[21] = 0; + out_2418032036792960[22] = 0; + out_2418032036792960[23] = 0; + out_2418032036792960[24] = 0; + out_2418032036792960[25] = 1; + out_2418032036792960[26] = 0; + out_2418032036792960[27] = 0; + out_2418032036792960[28] = 0; + out_2418032036792960[29] = 0; + out_2418032036792960[30] = 0; + out_2418032036792960[31] = 0; + out_2418032036792960[32] = 0; + out_2418032036792960[33] = 0; + out_2418032036792960[34] = 0; + out_2418032036792960[35] = 0; + out_2418032036792960[36] = 0; + out_2418032036792960[37] = 0; + out_2418032036792960[38] = 0; + out_2418032036792960[39] = 0; + out_2418032036792960[40] = 0; + out_2418032036792960[41] = 0; + out_2418032036792960[42] = 0; + out_2418032036792960[43] = 0; + out_2418032036792960[44] = 1; + out_2418032036792960[45] = 0; + out_2418032036792960[46] = 0; + out_2418032036792960[47] = 0; + out_2418032036792960[48] = 0; + out_2418032036792960[49] = 0; + out_2418032036792960[50] = 0; + out_2418032036792960[51] = 0; + out_2418032036792960[52] = 0; + out_2418032036792960[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_8879515811318903877) { - err_fun(nom_x, delta_x, out_8879515811318903877); +void pose_err_fun(double *nom_x, double *delta_x, double *out_607652414837750033) { + err_fun(nom_x, delta_x, out_607652414837750033); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5299248816140732451) { - inv_err_fun(nom_x, true_x, out_5299248816140732451); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4916314802659989276) { + inv_err_fun(nom_x, true_x, out_4916314802659989276); } -void pose_H_mod_fun(double *state, double *out_4677544152144015683) { - H_mod_fun(state, out_4677544152144015683); +void pose_H_mod_fun(double *state, double *out_1887258982449267152) { + H_mod_fun(state, out_1887258982449267152); } -void pose_f_fun(double *state, double dt, double *out_7013494318329414190) { - f_fun(state, dt, out_7013494318329414190); +void pose_f_fun(double *state, double dt, double *out_2681276694689160944) { + f_fun(state, dt, out_2681276694689160944); } -void pose_F_fun(double *state, double dt, double *out_1354267763168931680) { - F_fun(state, dt, out_1354267763168931680); +void pose_F_fun(double *state, double dt, double *out_6011099377550215473) { + F_fun(state, dt, out_6011099377550215473); } -void pose_h_4(double *state, double *unused, double *out_4996940222577203074) { - h_4(state, unused, out_4996940222577203074); +void pose_h_4(double *state, double *unused, double *out_5478412217433972001) { + h_4(state, unused, out_5478412217433972001); } -void pose_H_4(double *state, double *unused, double *out_1403322073353066430) { - H_4(state, unused, out_1403322073353066430); +void pose_H_4(double *state, double *unused, double *out_3085206464332165256) { + H_4(state, unused, out_3085206464332165256); } -void pose_h_10(double *state, double *unused, double *out_4736471881593411299) { - h_10(state, unused, out_4736471881593411299); +void pose_h_10(double *state, double *unused, double *out_5861828944145935890) { + h_10(state, unused, out_5861828944145935890); } -void pose_H_10(double *state, double *unused, double *out_6592862647789865695) { - H_10(state, unused, out_6592862647789865695); +void pose_H_10(double *state, double *unused, double *out_1460352446362739633) { + H_10(state, unused, out_1460352446362739633); } -void pose_h_13(double *state, double *unused, double *out_4300313025089579851) { - h_13(state, unused, out_4300313025089579851); +void pose_h_13(double *state, double *unused, double *out_6845339361600931042) { + h_13(state, unused, out_6845339361600931042); } -void pose_H_13(double *state, double *unused, double *out_4615595898685399231) { - H_13(state, unused, out_4615595898685399231); +void pose_H_13(double *state, double *unused, double *out_6297480289664498057) { + H_13(state, unused, out_6297480289664498057); } -void pose_h_14(double *state, double *unused, double *out_4861809331317933851) { - h_14(state, unused, out_4861809331317933851); +void pose_h_14(double *state, double *unused, double *out_6355309693456612665) { + h_14(state, unused, out_6355309693456612665); } -void pose_H_14(double *state, double *unused, double *out_5366562929692550959) { - H_14(state, unused, out_5366562929692550959); +void pose_H_14(double *state, double *unused, double *out_2418032036792960) { + H_14(state, unused, out_2418032036792960); } 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 b2490ff21..df39e56eb 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_8879515811318903877); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5299248816140732451); -void pose_H_mod_fun(double *state, double *out_4677544152144015683); -void pose_f_fun(double *state, double dt, double *out_7013494318329414190); -void pose_F_fun(double *state, double dt, double *out_1354267763168931680); -void pose_h_4(double *state, double *unused, double *out_4996940222577203074); -void pose_H_4(double *state, double *unused, double *out_1403322073353066430); -void pose_h_10(double *state, double *unused, double *out_4736471881593411299); -void pose_H_10(double *state, double *unused, double *out_6592862647789865695); -void pose_h_13(double *state, double *unused, double *out_4300313025089579851); -void pose_H_13(double *state, double *unused, double *out_4615595898685399231); -void pose_h_14(double *state, double *unused, double *out_4861809331317933851); -void pose_H_14(double *state, double *unused, double *out_5366562929692550959); +void pose_err_fun(double *nom_x, double *delta_x, double *out_607652414837750033); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4916314802659989276); +void pose_H_mod_fun(double *state, double *out_1887258982449267152); +void pose_f_fun(double *state, double dt, double *out_2681276694689160944); +void pose_F_fun(double *state, double dt, double *out_6011099377550215473); +void pose_h_4(double *state, double *unused, double *out_5478412217433972001); +void pose_H_4(double *state, double *unused, double *out_3085206464332165256); +void pose_h_10(double *state, double *unused, double *out_5861828944145935890); +void pose_H_10(double *state, double *unused, double *out_1460352446362739633); +void pose_h_13(double *state, double *unused, double *out_6845339361600931042); +void pose_H_13(double *state, double *unused, double *out_6297480289664498057); +void pose_h_14(double *state, double *unused, double *out_6355309693456612665); +void pose_H_14(double *state, double *unused, double *out_2418032036792960); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 1ab514972..696c91f33 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index b9d541838..0114a2d97 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 68b5608ea..bdb585285 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index df49f6b15..fa675a808 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index d70159ba3..7fbd4c2fd 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index da31c0c08..466e8c53f 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ