diff --git a/common/libcommon.a b/common/libcommon.a index 28b668300..66780fd0a 100644 Binary files a/common/libcommon.a and b/common/libcommon.a differ diff --git a/common/params_pyx.so b/common/params_pyx.so index e063a0dcb..fc6cd6cbe 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 34d40b15e..ef23f8f03 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 8caee184b..a7a2af21f 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 14b3ea81a..39422aa65 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index e12eed82b..8119a4e61 100755 Binary files a/panda/board/obj/body_h7/main.elf and b/panda/board/obj/body_h7/main.elf differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 5cfbf95c0..48684705a 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 9a6d9ea7b..cd2ae7859 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index 9a6d9ea7b..cd2ae7859 100755 Binary files a/panda/board/obj/bootstub.panda_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index cecf80413..8b3bb0ecb 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index cecf80413..8b3bb0ecb 100755 Binary files a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index cecf80413..8b3bb0ecb 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index cecf80413..8b3bb0ecb 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index cecf80413..8b3bb0ecb 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index cecf80413..8b3bb0ecb 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 9a6d9ea7b..cd2ae7859 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 9a6d9ea7b..cd2ae7859 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index 1a677e948..8b09e1fba 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 9a6d9ea7b..cd2ae7859 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 9a6d9ea7b..cd2ae7859 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index c689368fe..adc8938c0 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-2118eb17-DEBUG"; +const uint8_t gitversion[19] = "DEV-00895836-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 9c8316c12..d2a265b1d 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index ac645a3ff..52735d92d 100755 Binary files a/panda/board/obj/panda/bootstub.elf and b/panda/board/obj/panda/bootstub.elf differ diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 8a717454a..1db88cfc6 100755 Binary files a/panda/board/obj/panda/main.bin and b/panda/board/obj/panda/main.bin differ diff --git a/panda/board/obj/panda/main.elf b/panda/board/obj/panda/main.elf index 3644c4834..b648be795 100755 Binary files a/panda/board/obj/panda/main.elf and b/panda/board/obj/panda/main.elf differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index aa1a4efd1..0c1397397 100644 Binary files a/panda/board/obj/panda_can_ignition_only.bin.signed and b/panda/board/obj/panda_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_can_ignition_only/bootstub.elf b/panda/board/obj/panda_can_ignition_only/bootstub.elf index fa1196b3b..9ad6d3285 100755 Binary files a/panda/board/obj/panda_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_can_ignition_only/main.bin b/panda/board/obj/panda_can_ignition_only/main.bin index ff32c6250..9b51ebc2a 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.bin and b/panda/board/obj/panda_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_can_ignition_only/main.elf b/panda/board/obj/panda_can_ignition_only/main.elf index 9ec8bdee1..ed9dec171 100755 Binary files a/panda/board/obj/panda_can_ignition_only/main.elf and b/panda/board/obj/panda_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index a72bf5861..434dc02b6 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7/bootstub.elf b/panda/board/obj/panda_h7/bootstub.elf index 303608598..b6a6fe73d 100755 Binary files a/panda/board/obj/panda_h7/bootstub.elf and b/panda/board/obj/panda_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_h7/main.bin b/panda/board/obj/panda_h7/main.bin index ffa333482..24e995b23 100755 Binary files a/panda/board/obj/panda_h7/main.bin and b/panda/board/obj/panda_h7/main.bin differ diff --git a/panda/board/obj/panda_h7/main.elf b/panda/board/obj/panda_h7/main.elf index 3fcf8b06c..c6fc0525e 100755 Binary files a/panda/board/obj/panda_h7/main.elf and b/panda/board/obj/panda_h7/main.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_can_ignition_only.bin.signed index 0fee977c5..182c15af5 100644 Binary files a/panda/board/obj/panda_h7_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf index de86fae6d..331ed0729 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.bin b/panda/board/obj/panda_h7_can_ignition_only/main.bin index 059a1623f..2797caa01 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_can_ignition_only/main.elf b/panda/board/obj/panda_h7_can_ignition_only/main.elf index b487224b3..f34799065 100755 Binary files a/panda/board/obj/panda_h7_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote.bin.signed b/panda/board/obj/panda_h7_hkg_remote.bin.signed index 5345e912d..72a73e0df 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote.bin.signed and b/panda/board/obj/panda_h7_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf index 2e8386be4..b29aa6026 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.bin b/panda/board/obj/panda_h7_hkg_remote/main.bin index 63ca75a04..d3f2cb47a 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.bin and b/panda/board/obj/panda_h7_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote/main.elf b/panda/board/obj/panda_h7_hkg_remote/main.elf index b9ffb85f3..3829086d8 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote/main.elf and b/panda/board/obj/panda_h7_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed index 1e2522dc4..74410de6a 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf index 69ebf6f09..44cf4c5cc 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin index 2a691d88f..49c6d711f 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf index c4a54e651..d87dc2e11 100755 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index aed2456ff..4655690f2 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote/bootstub.elf b/panda/board/obj/panda_h7_remote/bootstub.elf index efd49ba54..b9a28f826 100755 Binary files a/panda/board/obj/panda_h7_remote/bootstub.elf and b/panda/board/obj/panda_h7_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote/main.bin b/panda/board/obj/panda_h7_remote/main.bin index ead5a6e9e..2ec481a33 100755 Binary files a/panda/board/obj/panda_h7_remote/main.bin and b/panda/board/obj/panda_h7_remote/main.bin differ diff --git a/panda/board/obj/panda_h7_remote/main.elf b/panda/board/obj/panda_h7_remote/main.elf index 064e5c251..4922df6b7 100755 Binary files a/panda/board/obj/panda_h7_remote/main.elf and b/panda/board/obj/panda_h7_remote/main.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed index 2aefeaa52..28cd3991b 100644 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf index 7cea9bf25..8ff9b1bf9 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin index b6c54af34..85dbb427a 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf index 041c393d7..5f5daa4b2 100755 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_h7_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote.bin.signed b/panda/board/obj/panda_hkg_remote.bin.signed index 0c6b83155..b011fd303 100644 Binary files a/panda/board/obj/panda_hkg_remote.bin.signed and b/panda/board/obj/panda_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote/bootstub.elf b/panda/board/obj/panda_hkg_remote/bootstub.elf index b50d51246..8f07e4253 100755 Binary files a/panda/board/obj/panda_hkg_remote/bootstub.elf and b/panda/board/obj/panda_hkg_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote/main.bin b/panda/board/obj/panda_hkg_remote/main.bin index 3096e62d7..2197ed4ac 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.bin and b/panda/board/obj/panda_hkg_remote/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote/main.elf b/panda/board/obj/panda_hkg_remote/main.elf index 925ea6d2e..3faa1def6 100755 Binary files a/panda/board/obj/panda_hkg_remote/main.elf and b/panda/board/obj/panda_hkg_remote/main.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed index 7fc81fbd9..63bc90f34 100644 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf index ecc6d4292..b4e962877 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin index cd20a4698..c3441a9ad 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf index 84f2decad..d27578719 100755 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_hkg_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/panda_jungle_h7.bin.signed b/panda/board/obj/panda_jungle_h7.bin.signed index 62276ab3a..f6619c403 100644 Binary files a/panda/board/obj/panda_jungle_h7.bin.signed and b/panda/board/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/obj/panda_jungle_h7/bootstub.elf b/panda/board/obj/panda_jungle_h7/bootstub.elf index b780f0b1c..29e7b6c10 100755 Binary files a/panda/board/obj/panda_jungle_h7/bootstub.elf and b/panda/board/obj/panda_jungle_h7/bootstub.elf differ diff --git a/panda/board/obj/panda_jungle_h7/main.bin b/panda/board/obj/panda_jungle_h7/main.bin index 7c7494871..adcbed6cb 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.bin and b/panda/board/obj/panda_jungle_h7/main.bin differ diff --git a/panda/board/obj/panda_jungle_h7/main.elf b/panda/board/obj/panda_jungle_h7/main.elf index 049e0480a..cf1a389ca 100755 Binary files a/panda/board/obj/panda_jungle_h7/main.elf and b/panda/board/obj/panda_jungle_h7/main.elf differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index 68d6c55eb..cb6608ac7 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote/bootstub.elf b/panda/board/obj/panda_remote/bootstub.elf index 7b8fdfe70..e626670e7 100755 Binary files a/panda/board/obj/panda_remote/bootstub.elf and b/panda/board/obj/panda_remote/bootstub.elf differ diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index d308083de..9365f154b 100755 Binary files a/panda/board/obj/panda_remote/main.bin and b/panda/board/obj/panda_remote/main.bin differ diff --git a/panda/board/obj/panda_remote/main.elf b/panda/board/obj/panda_remote/main.elf index 0e6c3bec3..5158e4f3d 100755 Binary files a/panda/board/obj/panda_remote/main.elf and b/panda/board/obj/panda_remote/main.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index b4c72f9e5..ee3b871d6 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 73649eb16..d3f36de70 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 6a9228edf..0b18768f8 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index c37a310e9..157449deb 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index d79ff02e3..d7e88775d 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-2118eb17-DEBUG \ No newline at end of file +DEV-00895836-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 0056a6cab..2d7db025f 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_1981160884949189432) { - out_1981160884949189432[0] = delta_x[0] + nom_x[0]; - out_1981160884949189432[1] = delta_x[1] + nom_x[1]; - out_1981160884949189432[2] = delta_x[2] + nom_x[2]; - out_1981160884949189432[3] = delta_x[3] + nom_x[3]; - out_1981160884949189432[4] = delta_x[4] + nom_x[4]; - out_1981160884949189432[5] = delta_x[5] + nom_x[5]; - out_1981160884949189432[6] = delta_x[6] + nom_x[6]; - out_1981160884949189432[7] = delta_x[7] + nom_x[7]; - out_1981160884949189432[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3464059133551141831) { + out_3464059133551141831[0] = delta_x[0] + nom_x[0]; + out_3464059133551141831[1] = delta_x[1] + nom_x[1]; + out_3464059133551141831[2] = delta_x[2] + nom_x[2]; + out_3464059133551141831[3] = delta_x[3] + nom_x[3]; + out_3464059133551141831[4] = delta_x[4] + nom_x[4]; + out_3464059133551141831[5] = delta_x[5] + nom_x[5]; + out_3464059133551141831[6] = delta_x[6] + nom_x[6]; + out_3464059133551141831[7] = delta_x[7] + nom_x[7]; + out_3464059133551141831[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) { - out_8847679371512298388[0] = -nom_x[0] + true_x[0]; - out_8847679371512298388[1] = -nom_x[1] + true_x[1]; - out_8847679371512298388[2] = -nom_x[2] + true_x[2]; - out_8847679371512298388[3] = -nom_x[3] + true_x[3]; - out_8847679371512298388[4] = -nom_x[4] + true_x[4]; - out_8847679371512298388[5] = -nom_x[5] + true_x[5]; - out_8847679371512298388[6] = -nom_x[6] + true_x[6]; - out_8847679371512298388[7] = -nom_x[7] + true_x[7]; - out_8847679371512298388[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) { + out_3057034877580327163[0] = -nom_x[0] + true_x[0]; + out_3057034877580327163[1] = -nom_x[1] + true_x[1]; + out_3057034877580327163[2] = -nom_x[2] + true_x[2]; + out_3057034877580327163[3] = -nom_x[3] + true_x[3]; + out_3057034877580327163[4] = -nom_x[4] + true_x[4]; + out_3057034877580327163[5] = -nom_x[5] + true_x[5]; + out_3057034877580327163[6] = -nom_x[6] + true_x[6]; + out_3057034877580327163[7] = -nom_x[7] + true_x[7]; + out_3057034877580327163[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5601961838873094342) { - out_5601961838873094342[0] = 1.0; - out_5601961838873094342[1] = 0.0; - out_5601961838873094342[2] = 0.0; - out_5601961838873094342[3] = 0.0; - out_5601961838873094342[4] = 0.0; - out_5601961838873094342[5] = 0.0; - out_5601961838873094342[6] = 0.0; - out_5601961838873094342[7] = 0.0; - out_5601961838873094342[8] = 0.0; - out_5601961838873094342[9] = 0.0; - out_5601961838873094342[10] = 1.0; - out_5601961838873094342[11] = 0.0; - out_5601961838873094342[12] = 0.0; - out_5601961838873094342[13] = 0.0; - out_5601961838873094342[14] = 0.0; - out_5601961838873094342[15] = 0.0; - out_5601961838873094342[16] = 0.0; - out_5601961838873094342[17] = 0.0; - out_5601961838873094342[18] = 0.0; - out_5601961838873094342[19] = 0.0; - out_5601961838873094342[20] = 1.0; - out_5601961838873094342[21] = 0.0; - out_5601961838873094342[22] = 0.0; - out_5601961838873094342[23] = 0.0; - out_5601961838873094342[24] = 0.0; - out_5601961838873094342[25] = 0.0; - out_5601961838873094342[26] = 0.0; - out_5601961838873094342[27] = 0.0; - out_5601961838873094342[28] = 0.0; - out_5601961838873094342[29] = 0.0; - out_5601961838873094342[30] = 1.0; - out_5601961838873094342[31] = 0.0; - out_5601961838873094342[32] = 0.0; - out_5601961838873094342[33] = 0.0; - out_5601961838873094342[34] = 0.0; - out_5601961838873094342[35] = 0.0; - out_5601961838873094342[36] = 0.0; - out_5601961838873094342[37] = 0.0; - out_5601961838873094342[38] = 0.0; - out_5601961838873094342[39] = 0.0; - out_5601961838873094342[40] = 1.0; - out_5601961838873094342[41] = 0.0; - out_5601961838873094342[42] = 0.0; - out_5601961838873094342[43] = 0.0; - out_5601961838873094342[44] = 0.0; - out_5601961838873094342[45] = 0.0; - out_5601961838873094342[46] = 0.0; - out_5601961838873094342[47] = 0.0; - out_5601961838873094342[48] = 0.0; - out_5601961838873094342[49] = 0.0; - out_5601961838873094342[50] = 1.0; - out_5601961838873094342[51] = 0.0; - out_5601961838873094342[52] = 0.0; - out_5601961838873094342[53] = 0.0; - out_5601961838873094342[54] = 0.0; - out_5601961838873094342[55] = 0.0; - out_5601961838873094342[56] = 0.0; - out_5601961838873094342[57] = 0.0; - out_5601961838873094342[58] = 0.0; - out_5601961838873094342[59] = 0.0; - out_5601961838873094342[60] = 1.0; - out_5601961838873094342[61] = 0.0; - out_5601961838873094342[62] = 0.0; - out_5601961838873094342[63] = 0.0; - out_5601961838873094342[64] = 0.0; - out_5601961838873094342[65] = 0.0; - out_5601961838873094342[66] = 0.0; - out_5601961838873094342[67] = 0.0; - out_5601961838873094342[68] = 0.0; - out_5601961838873094342[69] = 0.0; - out_5601961838873094342[70] = 1.0; - out_5601961838873094342[71] = 0.0; - out_5601961838873094342[72] = 0.0; - out_5601961838873094342[73] = 0.0; - out_5601961838873094342[74] = 0.0; - out_5601961838873094342[75] = 0.0; - out_5601961838873094342[76] = 0.0; - out_5601961838873094342[77] = 0.0; - out_5601961838873094342[78] = 0.0; - out_5601961838873094342[79] = 0.0; - out_5601961838873094342[80] = 1.0; +void H_mod_fun(double *state, double *out_1278642935192462594) { + out_1278642935192462594[0] = 1.0; + out_1278642935192462594[1] = 0.0; + out_1278642935192462594[2] = 0.0; + out_1278642935192462594[3] = 0.0; + out_1278642935192462594[4] = 0.0; + out_1278642935192462594[5] = 0.0; + out_1278642935192462594[6] = 0.0; + out_1278642935192462594[7] = 0.0; + out_1278642935192462594[8] = 0.0; + out_1278642935192462594[9] = 0.0; + out_1278642935192462594[10] = 1.0; + out_1278642935192462594[11] = 0.0; + out_1278642935192462594[12] = 0.0; + out_1278642935192462594[13] = 0.0; + out_1278642935192462594[14] = 0.0; + out_1278642935192462594[15] = 0.0; + out_1278642935192462594[16] = 0.0; + out_1278642935192462594[17] = 0.0; + out_1278642935192462594[18] = 0.0; + out_1278642935192462594[19] = 0.0; + out_1278642935192462594[20] = 1.0; + out_1278642935192462594[21] = 0.0; + out_1278642935192462594[22] = 0.0; + out_1278642935192462594[23] = 0.0; + out_1278642935192462594[24] = 0.0; + out_1278642935192462594[25] = 0.0; + out_1278642935192462594[26] = 0.0; + out_1278642935192462594[27] = 0.0; + out_1278642935192462594[28] = 0.0; + out_1278642935192462594[29] = 0.0; + out_1278642935192462594[30] = 1.0; + out_1278642935192462594[31] = 0.0; + out_1278642935192462594[32] = 0.0; + out_1278642935192462594[33] = 0.0; + out_1278642935192462594[34] = 0.0; + out_1278642935192462594[35] = 0.0; + out_1278642935192462594[36] = 0.0; + out_1278642935192462594[37] = 0.0; + out_1278642935192462594[38] = 0.0; + out_1278642935192462594[39] = 0.0; + out_1278642935192462594[40] = 1.0; + out_1278642935192462594[41] = 0.0; + out_1278642935192462594[42] = 0.0; + out_1278642935192462594[43] = 0.0; + out_1278642935192462594[44] = 0.0; + out_1278642935192462594[45] = 0.0; + out_1278642935192462594[46] = 0.0; + out_1278642935192462594[47] = 0.0; + out_1278642935192462594[48] = 0.0; + out_1278642935192462594[49] = 0.0; + out_1278642935192462594[50] = 1.0; + out_1278642935192462594[51] = 0.0; + out_1278642935192462594[52] = 0.0; + out_1278642935192462594[53] = 0.0; + out_1278642935192462594[54] = 0.0; + out_1278642935192462594[55] = 0.0; + out_1278642935192462594[56] = 0.0; + out_1278642935192462594[57] = 0.0; + out_1278642935192462594[58] = 0.0; + out_1278642935192462594[59] = 0.0; + out_1278642935192462594[60] = 1.0; + out_1278642935192462594[61] = 0.0; + out_1278642935192462594[62] = 0.0; + out_1278642935192462594[63] = 0.0; + out_1278642935192462594[64] = 0.0; + out_1278642935192462594[65] = 0.0; + out_1278642935192462594[66] = 0.0; + out_1278642935192462594[67] = 0.0; + out_1278642935192462594[68] = 0.0; + out_1278642935192462594[69] = 0.0; + out_1278642935192462594[70] = 1.0; + out_1278642935192462594[71] = 0.0; + out_1278642935192462594[72] = 0.0; + out_1278642935192462594[73] = 0.0; + out_1278642935192462594[74] = 0.0; + out_1278642935192462594[75] = 0.0; + out_1278642935192462594[76] = 0.0; + out_1278642935192462594[77] = 0.0; + out_1278642935192462594[78] = 0.0; + out_1278642935192462594[79] = 0.0; + out_1278642935192462594[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5149707672518823132) { - out_5149707672518823132[0] = state[0]; - out_5149707672518823132[1] = state[1]; - out_5149707672518823132[2] = state[2]; - out_5149707672518823132[3] = state[3]; - out_5149707672518823132[4] = state[4]; - out_5149707672518823132[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_5149707672518823132[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_5149707672518823132[7] = state[7]; - out_5149707672518823132[8] = state[8]; +void f_fun(double *state, double dt, double *out_258465026591330744) { + out_258465026591330744[0] = state[0]; + out_258465026591330744[1] = state[1]; + out_258465026591330744[2] = state[2]; + out_258465026591330744[3] = state[3]; + out_258465026591330744[4] = state[4]; + out_258465026591330744[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_258465026591330744[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_258465026591330744[7] = state[7]; + out_258465026591330744[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6841526781584604245) { - out_6841526781584604245[0] = 1; - out_6841526781584604245[1] = 0; - out_6841526781584604245[2] = 0; - out_6841526781584604245[3] = 0; - out_6841526781584604245[4] = 0; - out_6841526781584604245[5] = 0; - out_6841526781584604245[6] = 0; - out_6841526781584604245[7] = 0; - out_6841526781584604245[8] = 0; - out_6841526781584604245[9] = 0; - out_6841526781584604245[10] = 1; - out_6841526781584604245[11] = 0; - out_6841526781584604245[12] = 0; - out_6841526781584604245[13] = 0; - out_6841526781584604245[14] = 0; - out_6841526781584604245[15] = 0; - out_6841526781584604245[16] = 0; - out_6841526781584604245[17] = 0; - out_6841526781584604245[18] = 0; - out_6841526781584604245[19] = 0; - out_6841526781584604245[20] = 1; - out_6841526781584604245[21] = 0; - out_6841526781584604245[22] = 0; - out_6841526781584604245[23] = 0; - out_6841526781584604245[24] = 0; - out_6841526781584604245[25] = 0; - out_6841526781584604245[26] = 0; - out_6841526781584604245[27] = 0; - out_6841526781584604245[28] = 0; - out_6841526781584604245[29] = 0; - out_6841526781584604245[30] = 1; - out_6841526781584604245[31] = 0; - out_6841526781584604245[32] = 0; - out_6841526781584604245[33] = 0; - out_6841526781584604245[34] = 0; - out_6841526781584604245[35] = 0; - out_6841526781584604245[36] = 0; - out_6841526781584604245[37] = 0; - out_6841526781584604245[38] = 0; - out_6841526781584604245[39] = 0; - out_6841526781584604245[40] = 1; - out_6841526781584604245[41] = 0; - out_6841526781584604245[42] = 0; - out_6841526781584604245[43] = 0; - out_6841526781584604245[44] = 0; - out_6841526781584604245[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_6841526781584604245[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6841526781584604245[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6841526781584604245[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6841526781584604245[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_6841526781584604245[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6841526781584604245[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6841526781584604245[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6841526781584604245[53] = -9.8100000000000005*dt; - out_6841526781584604245[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_6841526781584604245[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6841526781584604245[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6841526781584604245[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6841526781584604245[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_6841526781584604245[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6841526781584604245[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_6841526781584604245[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6841526781584604245[62] = 0; - out_6841526781584604245[63] = 0; - out_6841526781584604245[64] = 0; - out_6841526781584604245[65] = 0; - out_6841526781584604245[66] = 0; - out_6841526781584604245[67] = 0; - out_6841526781584604245[68] = 0; - out_6841526781584604245[69] = 0; - out_6841526781584604245[70] = 1; - out_6841526781584604245[71] = 0; - out_6841526781584604245[72] = 0; - out_6841526781584604245[73] = 0; - out_6841526781584604245[74] = 0; - out_6841526781584604245[75] = 0; - out_6841526781584604245[76] = 0; - out_6841526781584604245[77] = 0; - out_6841526781584604245[78] = 0; - out_6841526781584604245[79] = 0; - out_6841526781584604245[80] = 1; +void F_fun(double *state, double dt, double *out_5399477112920697267) { + out_5399477112920697267[0] = 1; + out_5399477112920697267[1] = 0; + out_5399477112920697267[2] = 0; + out_5399477112920697267[3] = 0; + out_5399477112920697267[4] = 0; + out_5399477112920697267[5] = 0; + out_5399477112920697267[6] = 0; + out_5399477112920697267[7] = 0; + out_5399477112920697267[8] = 0; + out_5399477112920697267[9] = 0; + out_5399477112920697267[10] = 1; + out_5399477112920697267[11] = 0; + out_5399477112920697267[12] = 0; + out_5399477112920697267[13] = 0; + out_5399477112920697267[14] = 0; + out_5399477112920697267[15] = 0; + out_5399477112920697267[16] = 0; + out_5399477112920697267[17] = 0; + out_5399477112920697267[18] = 0; + out_5399477112920697267[19] = 0; + out_5399477112920697267[20] = 1; + out_5399477112920697267[21] = 0; + out_5399477112920697267[22] = 0; + out_5399477112920697267[23] = 0; + out_5399477112920697267[24] = 0; + out_5399477112920697267[25] = 0; + out_5399477112920697267[26] = 0; + out_5399477112920697267[27] = 0; + out_5399477112920697267[28] = 0; + out_5399477112920697267[29] = 0; + out_5399477112920697267[30] = 1; + out_5399477112920697267[31] = 0; + out_5399477112920697267[32] = 0; + out_5399477112920697267[33] = 0; + out_5399477112920697267[34] = 0; + out_5399477112920697267[35] = 0; + out_5399477112920697267[36] = 0; + out_5399477112920697267[37] = 0; + out_5399477112920697267[38] = 0; + out_5399477112920697267[39] = 0; + out_5399477112920697267[40] = 1; + out_5399477112920697267[41] = 0; + out_5399477112920697267[42] = 0; + out_5399477112920697267[43] = 0; + out_5399477112920697267[44] = 0; + out_5399477112920697267[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_5399477112920697267[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5399477112920697267[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5399477112920697267[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5399477112920697267[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_5399477112920697267[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5399477112920697267[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5399477112920697267[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5399477112920697267[53] = -9.8100000000000005*dt; + out_5399477112920697267[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_5399477112920697267[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5399477112920697267[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5399477112920697267[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5399477112920697267[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_5399477112920697267[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5399477112920697267[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_5399477112920697267[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5399477112920697267[62] = 0; + out_5399477112920697267[63] = 0; + out_5399477112920697267[64] = 0; + out_5399477112920697267[65] = 0; + out_5399477112920697267[66] = 0; + out_5399477112920697267[67] = 0; + out_5399477112920697267[68] = 0; + out_5399477112920697267[69] = 0; + out_5399477112920697267[70] = 1; + out_5399477112920697267[71] = 0; + out_5399477112920697267[72] = 0; + out_5399477112920697267[73] = 0; + out_5399477112920697267[74] = 0; + out_5399477112920697267[75] = 0; + out_5399477112920697267[76] = 0; + out_5399477112920697267[77] = 0; + out_5399477112920697267[78] = 0; + out_5399477112920697267[79] = 0; + out_5399477112920697267[80] = 1; } -void h_25(double *state, double *unused, double *out_7458155415496567305) { - out_7458155415496567305[0] = state[6]; +void h_25(double *state, double *unused, double *out_7067526126189904312) { + out_7067526126189904312[0] = state[6]; } -void H_25(double *state, double *unused, double *out_698270013688429502) { - out_698270013688429502[0] = 0; - out_698270013688429502[1] = 0; - out_698270013688429502[2] = 0; - out_698270013688429502[3] = 0; - out_698270013688429502[4] = 0; - out_698270013688429502[5] = 0; - out_698270013688429502[6] = 1; - out_698270013688429502[7] = 0; - out_698270013688429502[8] = 0; +void H_25(double *state, double *unused, double *out_7914545290719774643) { + out_7914545290719774643[0] = 0; + out_7914545290719774643[1] = 0; + out_7914545290719774643[2] = 0; + out_7914545290719774643[3] = 0; + out_7914545290719774643[4] = 0; + out_7914545290719774643[5] = 0; + out_7914545290719774643[6] = 1; + out_7914545290719774643[7] = 0; + out_7914545290719774643[8] = 0; } -void h_24(double *state, double *unused, double *out_8762756803592850260) { - out_8762756803592850260[0] = state[4]; - out_8762756803592850260[1] = state[5]; +void h_24(double *state, double *unused, double *out_5828690765636070596) { + out_5828690765636070596[0] = state[4]; + out_5828690765636070596[1] = state[5]; } -void H_24(double *state, double *unused, double *out_2427133132865743571) { - out_2427133132865743571[0] = 0; - out_2427133132865743571[1] = 0; - out_2427133132865743571[2] = 0; - out_2427133132865743571[3] = 0; - out_2427133132865743571[4] = 1; - out_2427133132865743571[5] = 0; - out_2427133132865743571[6] = 0; - out_2427133132865743571[7] = 0; - out_2427133132865743571[8] = 0; - out_2427133132865743571[9] = 0; - out_2427133132865743571[10] = 0; - out_2427133132865743571[11] = 0; - out_2427133132865743571[12] = 0; - out_2427133132865743571[13] = 0; - out_2427133132865743571[14] = 1; - out_2427133132865743571[15] = 0; - out_2427133132865743571[16] = 0; - out_2427133132865743571[17] = 0; +void H_24(double *state, double *unused, double *out_1260339832611588886) { + out_1260339832611588886[0] = 0; + out_1260339832611588886[1] = 0; + out_1260339832611588886[2] = 0; + out_1260339832611588886[3] = 0; + out_1260339832611588886[4] = 1; + out_1260339832611588886[5] = 0; + out_1260339832611588886[6] = 0; + out_1260339832611588886[7] = 0; + out_1260339832611588886[8] = 0; + out_1260339832611588886[9] = 0; + out_1260339832611588886[10] = 0; + out_1260339832611588886[11] = 0; + out_1260339832611588886[12] = 0; + out_1260339832611588886[13] = 0; + out_1260339832611588886[14] = 1; + out_1260339832611588886[15] = 0; + out_1260339832611588886[16] = 0; + out_1260339832611588886[17] = 0; } -void h_30(double *state, double *unused, double *out_434784079387956054) { - out_434784079387956054[0] = state[4]; +void h_30(double *state, double *unused, double *out_2572974398256279399) { + out_2572974398256279399[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6218420327803187253) { - out_6218420327803187253[0] = 0; - out_6218420327803187253[1] = 0; - out_6218420327803187253[2] = 0; - out_6218420327803187253[3] = 0; - out_6218420327803187253[4] = 1; - out_6218420327803187253[5] = 0; - out_6218420327803187253[6] = 0; - out_6218420327803187253[7] = 0; - out_6218420327803187253[8] = 0; +void H_30(double *state, double *unused, double *out_6004502452862168775) { + out_6004502452862168775[0] = 0; + out_6004502452862168775[1] = 0; + out_6004502452862168775[2] = 0; + out_6004502452862168775[3] = 0; + out_6004502452862168775[4] = 1; + out_6004502452862168775[5] = 0; + out_6004502452862168775[6] = 0; + out_6004502452862168775[7] = 0; + out_6004502452862168775[8] = 0; } -void h_26(double *state, double *unused, double *out_8798712813018318160) { - out_8798712813018318160[0] = state[7]; +void h_26(double *state, double *unused, double *out_3176290282932756916) { + out_3176290282932756916[0] = state[7]; } -void H_26(double *state, double *unused, double *out_4439773332562485726) { - out_4439773332562485726[0] = 0; - out_4439773332562485726[1] = 0; - out_4439773332562485726[2] = 0; - out_4439773332562485726[3] = 0; - out_4439773332562485726[4] = 0; - out_4439773332562485726[5] = 0; - out_4439773332562485726[6] = 0; - out_4439773332562485726[7] = 1; - out_4439773332562485726[8] = 0; +void H_26(double *state, double *unused, double *out_6790695464115720749) { + out_6790695464115720749[0] = 0; + out_6790695464115720749[1] = 0; + out_6790695464115720749[2] = 0; + out_6790695464115720749[3] = 0; + out_6790695464115720749[4] = 0; + out_6790695464115720749[5] = 0; + out_6790695464115720749[6] = 0; + out_6790695464115720749[7] = 1; + out_6790695464115720749[8] = 0; } -void h_27(double *state, double *unused, double *out_723267455973180046) { - out_723267455973180046[0] = state[3]; +void h_27(double *state, double *unused, double *out_7048987171797560597) { + out_7048987171797560597[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4043657016002762342) { - out_4043657016002762342[0] = 0; - out_4043657016002762342[1] = 0; - out_4043657016002762342[2] = 0; - out_4043657016002762342[3] = 1; - out_4043657016002762342[4] = 0; - out_4043657016002762342[5] = 0; - out_4043657016002762342[6] = 0; - out_4043657016002762342[7] = 0; - out_4043657016002762342[8] = 0; +void H_27(double *state, double *unused, double *out_3829739141061743864) { + out_3829739141061743864[0] = 0; + out_3829739141061743864[1] = 0; + out_3829739141061743864[2] = 0; + out_3829739141061743864[3] = 1; + out_3829739141061743864[4] = 0; + out_3829739141061743864[5] = 0; + out_3829739141061743864[6] = 0; + out_3829739141061743864[7] = 0; + out_3829739141061743864[8] = 0; } -void h_29(double *state, double *unused, double *out_4920797374511219811) { - out_4920797374511219811[0] = state[1]; +void h_29(double *state, double *unused, double *out_3516484251157941834) { + out_3516484251157941834[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2330294289133211309) { - out_2330294289133211309[0] = 0; - out_2330294289133211309[1] = 1; - out_2330294289133211309[2] = 0; - out_2330294289133211309[3] = 0; - out_2330294289133211309[4] = 0; - out_2330294289133211309[5] = 0; - out_2330294289133211309[6] = 0; - out_2330294289133211309[7] = 0; - out_2330294289133211309[8] = 0; +void H_29(double *state, double *unused, double *out_6514733797176560959) { + out_6514733797176560959[0] = 0; + out_6514733797176560959[1] = 1; + out_6514733797176560959[2] = 0; + out_6514733797176560959[3] = 0; + out_6514733797176560959[4] = 0; + out_6514733797176560959[5] = 0; + out_6514733797176560959[6] = 0; + out_6514733797176560959[7] = 0; + out_6514733797176560959[8] = 0; } -void h_28(double *state, double *unused, double *out_3477859511150572185) { - out_3477859511150572185[0] = state[0]; +void h_28(double *state, double *unused, double *out_6396083634251145374) { + out_6396083634251145374[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2752104727936319265) { - out_2752104727936319265[0] = 1; - out_2752104727936319265[1] = 0; - out_2752104727936319265[2] = 0; - out_2752104727936319265[3] = 0; - out_2752104727936319265[4] = 0; - out_2752104727936319265[5] = 0; - out_2752104727936319265[6] = 0; - out_2752104727936319265[7] = 0; - out_2752104727936319265[8] = 0; +void H_28(double *state, double *unused, double *out_1432334780107030385) { + out_1432334780107030385[0] = 1; + out_1432334780107030385[1] = 0; + out_1432334780107030385[2] = 0; + out_1432334780107030385[3] = 0; + out_1432334780107030385[4] = 0; + out_1432334780107030385[5] = 0; + out_1432334780107030385[6] = 0; + out_1432334780107030385[7] = 0; + out_1432334780107030385[8] = 0; } -void h_31(double *state, double *unused, double *out_4217753431862633375) { - out_4217753431862633375[0] = state[8]; +void h_31(double *state, double *unused, double *out_3497945296765598119) { + out_3497945296765598119[0] = state[8]; } -void H_31(double *state, double *unused, double *out_667624051811469074) { - out_667624051811469074[0] = 0; - out_667624051811469074[1] = 0; - out_667624051811469074[2] = 0; - out_667624051811469074[3] = 0; - out_667624051811469074[4] = 0; - out_667624051811469074[5] = 0; - out_667624051811469074[6] = 0; - out_667624051811469074[7] = 0; - out_667624051811469074[8] = 1; +void H_31(double *state, double *unused, double *out_6164487361882369273) { + out_6164487361882369273[0] = 0; + out_6164487361882369273[1] = 0; + out_6164487361882369273[2] = 0; + out_6164487361882369273[3] = 0; + out_6164487361882369273[4] = 0; + out_6164487361882369273[5] = 0; + out_6164487361882369273[6] = 0; + out_6164487361882369273[7] = 0; + out_6164487361882369273[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_1981160884949189432) { - err_fun(nom_x, delta_x, out_1981160884949189432); +void car_err_fun(double *nom_x, double *delta_x, double *out_3464059133551141831) { + err_fun(nom_x, delta_x, out_3464059133551141831); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388) { - inv_err_fun(nom_x, true_x, out_8847679371512298388); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163) { + inv_err_fun(nom_x, true_x, out_3057034877580327163); } -void car_H_mod_fun(double *state, double *out_5601961838873094342) { - H_mod_fun(state, out_5601961838873094342); +void car_H_mod_fun(double *state, double *out_1278642935192462594) { + H_mod_fun(state, out_1278642935192462594); } -void car_f_fun(double *state, double dt, double *out_5149707672518823132) { - f_fun(state, dt, out_5149707672518823132); +void car_f_fun(double *state, double dt, double *out_258465026591330744) { + f_fun(state, dt, out_258465026591330744); } -void car_F_fun(double *state, double dt, double *out_6841526781584604245) { - F_fun(state, dt, out_6841526781584604245); +void car_F_fun(double *state, double dt, double *out_5399477112920697267) { + F_fun(state, dt, out_5399477112920697267); } -void car_h_25(double *state, double *unused, double *out_7458155415496567305) { - h_25(state, unused, out_7458155415496567305); +void car_h_25(double *state, double *unused, double *out_7067526126189904312) { + h_25(state, unused, out_7067526126189904312); } -void car_H_25(double *state, double *unused, double *out_698270013688429502) { - H_25(state, unused, out_698270013688429502); +void car_H_25(double *state, double *unused, double *out_7914545290719774643) { + H_25(state, unused, out_7914545290719774643); } -void car_h_24(double *state, double *unused, double *out_8762756803592850260) { - h_24(state, unused, out_8762756803592850260); +void car_h_24(double *state, double *unused, double *out_5828690765636070596) { + h_24(state, unused, out_5828690765636070596); } -void car_H_24(double *state, double *unused, double *out_2427133132865743571) { - H_24(state, unused, out_2427133132865743571); +void car_H_24(double *state, double *unused, double *out_1260339832611588886) { + H_24(state, unused, out_1260339832611588886); } -void car_h_30(double *state, double *unused, double *out_434784079387956054) { - h_30(state, unused, out_434784079387956054); +void car_h_30(double *state, double *unused, double *out_2572974398256279399) { + h_30(state, unused, out_2572974398256279399); } -void car_H_30(double *state, double *unused, double *out_6218420327803187253) { - H_30(state, unused, out_6218420327803187253); +void car_H_30(double *state, double *unused, double *out_6004502452862168775) { + H_30(state, unused, out_6004502452862168775); } -void car_h_26(double *state, double *unused, double *out_8798712813018318160) { - h_26(state, unused, out_8798712813018318160); +void car_h_26(double *state, double *unused, double *out_3176290282932756916) { + h_26(state, unused, out_3176290282932756916); } -void car_H_26(double *state, double *unused, double *out_4439773332562485726) { - H_26(state, unused, out_4439773332562485726); +void car_H_26(double *state, double *unused, double *out_6790695464115720749) { + H_26(state, unused, out_6790695464115720749); } -void car_h_27(double *state, double *unused, double *out_723267455973180046) { - h_27(state, unused, out_723267455973180046); +void car_h_27(double *state, double *unused, double *out_7048987171797560597) { + h_27(state, unused, out_7048987171797560597); } -void car_H_27(double *state, double *unused, double *out_4043657016002762342) { - H_27(state, unused, out_4043657016002762342); +void car_H_27(double *state, double *unused, double *out_3829739141061743864) { + H_27(state, unused, out_3829739141061743864); } -void car_h_29(double *state, double *unused, double *out_4920797374511219811) { - h_29(state, unused, out_4920797374511219811); +void car_h_29(double *state, double *unused, double *out_3516484251157941834) { + h_29(state, unused, out_3516484251157941834); } -void car_H_29(double *state, double *unused, double *out_2330294289133211309) { - H_29(state, unused, out_2330294289133211309); +void car_H_29(double *state, double *unused, double *out_6514733797176560959) { + H_29(state, unused, out_6514733797176560959); } -void car_h_28(double *state, double *unused, double *out_3477859511150572185) { - h_28(state, unused, out_3477859511150572185); +void car_h_28(double *state, double *unused, double *out_6396083634251145374) { + h_28(state, unused, out_6396083634251145374); } -void car_H_28(double *state, double *unused, double *out_2752104727936319265) { - H_28(state, unused, out_2752104727936319265); +void car_H_28(double *state, double *unused, double *out_1432334780107030385) { + H_28(state, unused, out_1432334780107030385); } -void car_h_31(double *state, double *unused, double *out_4217753431862633375) { - h_31(state, unused, out_4217753431862633375); +void car_h_31(double *state, double *unused, double *out_3497945296765598119) { + h_31(state, unused, out_3497945296765598119); } -void car_H_31(double *state, double *unused, double *out_667624051811469074) { - H_31(state, unused, out_667624051811469074); +void car_H_31(double *state, double *unused, double *out_6164487361882369273) { + H_31(state, unused, out_6164487361882369273); } 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 8d1f86337..fd53aa950 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_1981160884949189432); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8847679371512298388); -void car_H_mod_fun(double *state, double *out_5601961838873094342); -void car_f_fun(double *state, double dt, double *out_5149707672518823132); -void car_F_fun(double *state, double dt, double *out_6841526781584604245); -void car_h_25(double *state, double *unused, double *out_7458155415496567305); -void car_H_25(double *state, double *unused, double *out_698270013688429502); -void car_h_24(double *state, double *unused, double *out_8762756803592850260); -void car_H_24(double *state, double *unused, double *out_2427133132865743571); -void car_h_30(double *state, double *unused, double *out_434784079387956054); -void car_H_30(double *state, double *unused, double *out_6218420327803187253); -void car_h_26(double *state, double *unused, double *out_8798712813018318160); -void car_H_26(double *state, double *unused, double *out_4439773332562485726); -void car_h_27(double *state, double *unused, double *out_723267455973180046); -void car_H_27(double *state, double *unused, double *out_4043657016002762342); -void car_h_29(double *state, double *unused, double *out_4920797374511219811); -void car_H_29(double *state, double *unused, double *out_2330294289133211309); -void car_h_28(double *state, double *unused, double *out_3477859511150572185); -void car_H_28(double *state, double *unused, double *out_2752104727936319265); -void car_h_31(double *state, double *unused, double *out_4217753431862633375); -void car_H_31(double *state, double *unused, double *out_667624051811469074); +void car_err_fun(double *nom_x, double *delta_x, double *out_3464059133551141831); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_3057034877580327163); +void car_H_mod_fun(double *state, double *out_1278642935192462594); +void car_f_fun(double *state, double dt, double *out_258465026591330744); +void car_F_fun(double *state, double dt, double *out_5399477112920697267); +void car_h_25(double *state, double *unused, double *out_7067526126189904312); +void car_H_25(double *state, double *unused, double *out_7914545290719774643); +void car_h_24(double *state, double *unused, double *out_5828690765636070596); +void car_H_24(double *state, double *unused, double *out_1260339832611588886); +void car_h_30(double *state, double *unused, double *out_2572974398256279399); +void car_H_30(double *state, double *unused, double *out_6004502452862168775); +void car_h_26(double *state, double *unused, double *out_3176290282932756916); +void car_H_26(double *state, double *unused, double *out_6790695464115720749); +void car_h_27(double *state, double *unused, double *out_7048987171797560597); +void car_H_27(double *state, double *unused, double *out_3829739141061743864); +void car_h_29(double *state, double *unused, double *out_3516484251157941834); +void car_H_29(double *state, double *unused, double *out_6514733797176560959); +void car_h_28(double *state, double *unused, double *out_6396083634251145374); +void car_H_28(double *state, double *unused, double *out_1432334780107030385); +void car_h_31(double *state, double *unused, double *out_3497945296765598119); +void car_H_31(double *state, double *unused, double *out_6164487361882369273); 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 8aed5865f..665df3ad3 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_8714848832990626554) { - out_8714848832990626554[0] = delta_x[0] + nom_x[0]; - out_8714848832990626554[1] = delta_x[1] + nom_x[1]; - out_8714848832990626554[2] = delta_x[2] + nom_x[2]; - out_8714848832990626554[3] = delta_x[3] + nom_x[3]; - out_8714848832990626554[4] = delta_x[4] + nom_x[4]; - out_8714848832990626554[5] = delta_x[5] + nom_x[5]; - out_8714848832990626554[6] = delta_x[6] + nom_x[6]; - out_8714848832990626554[7] = delta_x[7] + nom_x[7]; - out_8714848832990626554[8] = delta_x[8] + nom_x[8]; - out_8714848832990626554[9] = delta_x[9] + nom_x[9]; - out_8714848832990626554[10] = delta_x[10] + nom_x[10]; - out_8714848832990626554[11] = delta_x[11] + nom_x[11]; - out_8714848832990626554[12] = delta_x[12] + nom_x[12]; - out_8714848832990626554[13] = delta_x[13] + nom_x[13]; - out_8714848832990626554[14] = delta_x[14] + nom_x[14]; - out_8714848832990626554[15] = delta_x[15] + nom_x[15]; - out_8714848832990626554[16] = delta_x[16] + nom_x[16]; - out_8714848832990626554[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_7431505958311813382) { + out_7431505958311813382[0] = delta_x[0] + nom_x[0]; + out_7431505958311813382[1] = delta_x[1] + nom_x[1]; + out_7431505958311813382[2] = delta_x[2] + nom_x[2]; + out_7431505958311813382[3] = delta_x[3] + nom_x[3]; + out_7431505958311813382[4] = delta_x[4] + nom_x[4]; + out_7431505958311813382[5] = delta_x[5] + nom_x[5]; + out_7431505958311813382[6] = delta_x[6] + nom_x[6]; + out_7431505958311813382[7] = delta_x[7] + nom_x[7]; + out_7431505958311813382[8] = delta_x[8] + nom_x[8]; + out_7431505958311813382[9] = delta_x[9] + nom_x[9]; + out_7431505958311813382[10] = delta_x[10] + nom_x[10]; + out_7431505958311813382[11] = delta_x[11] + nom_x[11]; + out_7431505958311813382[12] = delta_x[12] + nom_x[12]; + out_7431505958311813382[13] = delta_x[13] + nom_x[13]; + out_7431505958311813382[14] = delta_x[14] + nom_x[14]; + out_7431505958311813382[15] = delta_x[15] + nom_x[15]; + out_7431505958311813382[16] = delta_x[16] + nom_x[16]; + out_7431505958311813382[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5047671582975253903) { - out_5047671582975253903[0] = -nom_x[0] + true_x[0]; - out_5047671582975253903[1] = -nom_x[1] + true_x[1]; - out_5047671582975253903[2] = -nom_x[2] + true_x[2]; - out_5047671582975253903[3] = -nom_x[3] + true_x[3]; - out_5047671582975253903[4] = -nom_x[4] + true_x[4]; - out_5047671582975253903[5] = -nom_x[5] + true_x[5]; - out_5047671582975253903[6] = -nom_x[6] + true_x[6]; - out_5047671582975253903[7] = -nom_x[7] + true_x[7]; - out_5047671582975253903[8] = -nom_x[8] + true_x[8]; - out_5047671582975253903[9] = -nom_x[9] + true_x[9]; - out_5047671582975253903[10] = -nom_x[10] + true_x[10]; - out_5047671582975253903[11] = -nom_x[11] + true_x[11]; - out_5047671582975253903[12] = -nom_x[12] + true_x[12]; - out_5047671582975253903[13] = -nom_x[13] + true_x[13]; - out_5047671582975253903[14] = -nom_x[14] + true_x[14]; - out_5047671582975253903[15] = -nom_x[15] + true_x[15]; - out_5047671582975253903[16] = -nom_x[16] + true_x[16]; - out_5047671582975253903[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431) { + out_8551627000098797431[0] = -nom_x[0] + true_x[0]; + out_8551627000098797431[1] = -nom_x[1] + true_x[1]; + out_8551627000098797431[2] = -nom_x[2] + true_x[2]; + out_8551627000098797431[3] = -nom_x[3] + true_x[3]; + out_8551627000098797431[4] = -nom_x[4] + true_x[4]; + out_8551627000098797431[5] = -nom_x[5] + true_x[5]; + out_8551627000098797431[6] = -nom_x[6] + true_x[6]; + out_8551627000098797431[7] = -nom_x[7] + true_x[7]; + out_8551627000098797431[8] = -nom_x[8] + true_x[8]; + out_8551627000098797431[9] = -nom_x[9] + true_x[9]; + out_8551627000098797431[10] = -nom_x[10] + true_x[10]; + out_8551627000098797431[11] = -nom_x[11] + true_x[11]; + out_8551627000098797431[12] = -nom_x[12] + true_x[12]; + out_8551627000098797431[13] = -nom_x[13] + true_x[13]; + out_8551627000098797431[14] = -nom_x[14] + true_x[14]; + out_8551627000098797431[15] = -nom_x[15] + true_x[15]; + out_8551627000098797431[16] = -nom_x[16] + true_x[16]; + out_8551627000098797431[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1709250979764021582) { - out_1709250979764021582[0] = 1.0; - out_1709250979764021582[1] = 0.0; - out_1709250979764021582[2] = 0.0; - out_1709250979764021582[3] = 0.0; - out_1709250979764021582[4] = 0.0; - out_1709250979764021582[5] = 0.0; - out_1709250979764021582[6] = 0.0; - out_1709250979764021582[7] = 0.0; - out_1709250979764021582[8] = 0.0; - out_1709250979764021582[9] = 0.0; - out_1709250979764021582[10] = 0.0; - out_1709250979764021582[11] = 0.0; - out_1709250979764021582[12] = 0.0; - out_1709250979764021582[13] = 0.0; - out_1709250979764021582[14] = 0.0; - out_1709250979764021582[15] = 0.0; - out_1709250979764021582[16] = 0.0; - out_1709250979764021582[17] = 0.0; - out_1709250979764021582[18] = 0.0; - out_1709250979764021582[19] = 1.0; - out_1709250979764021582[20] = 0.0; - out_1709250979764021582[21] = 0.0; - out_1709250979764021582[22] = 0.0; - out_1709250979764021582[23] = 0.0; - out_1709250979764021582[24] = 0.0; - out_1709250979764021582[25] = 0.0; - out_1709250979764021582[26] = 0.0; - out_1709250979764021582[27] = 0.0; - out_1709250979764021582[28] = 0.0; - out_1709250979764021582[29] = 0.0; - out_1709250979764021582[30] = 0.0; - out_1709250979764021582[31] = 0.0; - out_1709250979764021582[32] = 0.0; - out_1709250979764021582[33] = 0.0; - out_1709250979764021582[34] = 0.0; - out_1709250979764021582[35] = 0.0; - out_1709250979764021582[36] = 0.0; - out_1709250979764021582[37] = 0.0; - out_1709250979764021582[38] = 1.0; - out_1709250979764021582[39] = 0.0; - out_1709250979764021582[40] = 0.0; - out_1709250979764021582[41] = 0.0; - out_1709250979764021582[42] = 0.0; - out_1709250979764021582[43] = 0.0; - out_1709250979764021582[44] = 0.0; - out_1709250979764021582[45] = 0.0; - out_1709250979764021582[46] = 0.0; - out_1709250979764021582[47] = 0.0; - out_1709250979764021582[48] = 0.0; - out_1709250979764021582[49] = 0.0; - out_1709250979764021582[50] = 0.0; - out_1709250979764021582[51] = 0.0; - out_1709250979764021582[52] = 0.0; - out_1709250979764021582[53] = 0.0; - out_1709250979764021582[54] = 0.0; - out_1709250979764021582[55] = 0.0; - out_1709250979764021582[56] = 0.0; - out_1709250979764021582[57] = 1.0; - out_1709250979764021582[58] = 0.0; - out_1709250979764021582[59] = 0.0; - out_1709250979764021582[60] = 0.0; - out_1709250979764021582[61] = 0.0; - out_1709250979764021582[62] = 0.0; - out_1709250979764021582[63] = 0.0; - out_1709250979764021582[64] = 0.0; - out_1709250979764021582[65] = 0.0; - out_1709250979764021582[66] = 0.0; - out_1709250979764021582[67] = 0.0; - out_1709250979764021582[68] = 0.0; - out_1709250979764021582[69] = 0.0; - out_1709250979764021582[70] = 0.0; - out_1709250979764021582[71] = 0.0; - out_1709250979764021582[72] = 0.0; - out_1709250979764021582[73] = 0.0; - out_1709250979764021582[74] = 0.0; - out_1709250979764021582[75] = 0.0; - out_1709250979764021582[76] = 1.0; - out_1709250979764021582[77] = 0.0; - out_1709250979764021582[78] = 0.0; - out_1709250979764021582[79] = 0.0; - out_1709250979764021582[80] = 0.0; - out_1709250979764021582[81] = 0.0; - out_1709250979764021582[82] = 0.0; - out_1709250979764021582[83] = 0.0; - out_1709250979764021582[84] = 0.0; - out_1709250979764021582[85] = 0.0; - out_1709250979764021582[86] = 0.0; - out_1709250979764021582[87] = 0.0; - out_1709250979764021582[88] = 0.0; - out_1709250979764021582[89] = 0.0; - out_1709250979764021582[90] = 0.0; - out_1709250979764021582[91] = 0.0; - out_1709250979764021582[92] = 0.0; - out_1709250979764021582[93] = 0.0; - out_1709250979764021582[94] = 0.0; - out_1709250979764021582[95] = 1.0; - out_1709250979764021582[96] = 0.0; - out_1709250979764021582[97] = 0.0; - out_1709250979764021582[98] = 0.0; - out_1709250979764021582[99] = 0.0; - out_1709250979764021582[100] = 0.0; - out_1709250979764021582[101] = 0.0; - out_1709250979764021582[102] = 0.0; - out_1709250979764021582[103] = 0.0; - out_1709250979764021582[104] = 0.0; - out_1709250979764021582[105] = 0.0; - out_1709250979764021582[106] = 0.0; - out_1709250979764021582[107] = 0.0; - out_1709250979764021582[108] = 0.0; - out_1709250979764021582[109] = 0.0; - out_1709250979764021582[110] = 0.0; - out_1709250979764021582[111] = 0.0; - out_1709250979764021582[112] = 0.0; - out_1709250979764021582[113] = 0.0; - out_1709250979764021582[114] = 1.0; - out_1709250979764021582[115] = 0.0; - out_1709250979764021582[116] = 0.0; - out_1709250979764021582[117] = 0.0; - out_1709250979764021582[118] = 0.0; - out_1709250979764021582[119] = 0.0; - out_1709250979764021582[120] = 0.0; - out_1709250979764021582[121] = 0.0; - out_1709250979764021582[122] = 0.0; - out_1709250979764021582[123] = 0.0; - out_1709250979764021582[124] = 0.0; - out_1709250979764021582[125] = 0.0; - out_1709250979764021582[126] = 0.0; - out_1709250979764021582[127] = 0.0; - out_1709250979764021582[128] = 0.0; - out_1709250979764021582[129] = 0.0; - out_1709250979764021582[130] = 0.0; - out_1709250979764021582[131] = 0.0; - out_1709250979764021582[132] = 0.0; - out_1709250979764021582[133] = 1.0; - out_1709250979764021582[134] = 0.0; - out_1709250979764021582[135] = 0.0; - out_1709250979764021582[136] = 0.0; - out_1709250979764021582[137] = 0.0; - out_1709250979764021582[138] = 0.0; - out_1709250979764021582[139] = 0.0; - out_1709250979764021582[140] = 0.0; - out_1709250979764021582[141] = 0.0; - out_1709250979764021582[142] = 0.0; - out_1709250979764021582[143] = 0.0; - out_1709250979764021582[144] = 0.0; - out_1709250979764021582[145] = 0.0; - out_1709250979764021582[146] = 0.0; - out_1709250979764021582[147] = 0.0; - out_1709250979764021582[148] = 0.0; - out_1709250979764021582[149] = 0.0; - out_1709250979764021582[150] = 0.0; - out_1709250979764021582[151] = 0.0; - out_1709250979764021582[152] = 1.0; - out_1709250979764021582[153] = 0.0; - out_1709250979764021582[154] = 0.0; - out_1709250979764021582[155] = 0.0; - out_1709250979764021582[156] = 0.0; - out_1709250979764021582[157] = 0.0; - out_1709250979764021582[158] = 0.0; - out_1709250979764021582[159] = 0.0; - out_1709250979764021582[160] = 0.0; - out_1709250979764021582[161] = 0.0; - out_1709250979764021582[162] = 0.0; - out_1709250979764021582[163] = 0.0; - out_1709250979764021582[164] = 0.0; - out_1709250979764021582[165] = 0.0; - out_1709250979764021582[166] = 0.0; - out_1709250979764021582[167] = 0.0; - out_1709250979764021582[168] = 0.0; - out_1709250979764021582[169] = 0.0; - out_1709250979764021582[170] = 0.0; - out_1709250979764021582[171] = 1.0; - out_1709250979764021582[172] = 0.0; - out_1709250979764021582[173] = 0.0; - out_1709250979764021582[174] = 0.0; - out_1709250979764021582[175] = 0.0; - out_1709250979764021582[176] = 0.0; - out_1709250979764021582[177] = 0.0; - out_1709250979764021582[178] = 0.0; - out_1709250979764021582[179] = 0.0; - out_1709250979764021582[180] = 0.0; - out_1709250979764021582[181] = 0.0; - out_1709250979764021582[182] = 0.0; - out_1709250979764021582[183] = 0.0; - out_1709250979764021582[184] = 0.0; - out_1709250979764021582[185] = 0.0; - out_1709250979764021582[186] = 0.0; - out_1709250979764021582[187] = 0.0; - out_1709250979764021582[188] = 0.0; - out_1709250979764021582[189] = 0.0; - out_1709250979764021582[190] = 1.0; - out_1709250979764021582[191] = 0.0; - out_1709250979764021582[192] = 0.0; - out_1709250979764021582[193] = 0.0; - out_1709250979764021582[194] = 0.0; - out_1709250979764021582[195] = 0.0; - out_1709250979764021582[196] = 0.0; - out_1709250979764021582[197] = 0.0; - out_1709250979764021582[198] = 0.0; - out_1709250979764021582[199] = 0.0; - out_1709250979764021582[200] = 0.0; - out_1709250979764021582[201] = 0.0; - out_1709250979764021582[202] = 0.0; - out_1709250979764021582[203] = 0.0; - out_1709250979764021582[204] = 0.0; - out_1709250979764021582[205] = 0.0; - out_1709250979764021582[206] = 0.0; - out_1709250979764021582[207] = 0.0; - out_1709250979764021582[208] = 0.0; - out_1709250979764021582[209] = 1.0; - out_1709250979764021582[210] = 0.0; - out_1709250979764021582[211] = 0.0; - out_1709250979764021582[212] = 0.0; - out_1709250979764021582[213] = 0.0; - out_1709250979764021582[214] = 0.0; - out_1709250979764021582[215] = 0.0; - out_1709250979764021582[216] = 0.0; - out_1709250979764021582[217] = 0.0; - out_1709250979764021582[218] = 0.0; - out_1709250979764021582[219] = 0.0; - out_1709250979764021582[220] = 0.0; - out_1709250979764021582[221] = 0.0; - out_1709250979764021582[222] = 0.0; - out_1709250979764021582[223] = 0.0; - out_1709250979764021582[224] = 0.0; - out_1709250979764021582[225] = 0.0; - out_1709250979764021582[226] = 0.0; - out_1709250979764021582[227] = 0.0; - out_1709250979764021582[228] = 1.0; - out_1709250979764021582[229] = 0.0; - out_1709250979764021582[230] = 0.0; - out_1709250979764021582[231] = 0.0; - out_1709250979764021582[232] = 0.0; - out_1709250979764021582[233] = 0.0; - out_1709250979764021582[234] = 0.0; - out_1709250979764021582[235] = 0.0; - out_1709250979764021582[236] = 0.0; - out_1709250979764021582[237] = 0.0; - out_1709250979764021582[238] = 0.0; - out_1709250979764021582[239] = 0.0; - out_1709250979764021582[240] = 0.0; - out_1709250979764021582[241] = 0.0; - out_1709250979764021582[242] = 0.0; - out_1709250979764021582[243] = 0.0; - out_1709250979764021582[244] = 0.0; - out_1709250979764021582[245] = 0.0; - out_1709250979764021582[246] = 0.0; - out_1709250979764021582[247] = 1.0; - out_1709250979764021582[248] = 0.0; - out_1709250979764021582[249] = 0.0; - out_1709250979764021582[250] = 0.0; - out_1709250979764021582[251] = 0.0; - out_1709250979764021582[252] = 0.0; - out_1709250979764021582[253] = 0.0; - out_1709250979764021582[254] = 0.0; - out_1709250979764021582[255] = 0.0; - out_1709250979764021582[256] = 0.0; - out_1709250979764021582[257] = 0.0; - out_1709250979764021582[258] = 0.0; - out_1709250979764021582[259] = 0.0; - out_1709250979764021582[260] = 0.0; - out_1709250979764021582[261] = 0.0; - out_1709250979764021582[262] = 0.0; - out_1709250979764021582[263] = 0.0; - out_1709250979764021582[264] = 0.0; - out_1709250979764021582[265] = 0.0; - out_1709250979764021582[266] = 1.0; - out_1709250979764021582[267] = 0.0; - out_1709250979764021582[268] = 0.0; - out_1709250979764021582[269] = 0.0; - out_1709250979764021582[270] = 0.0; - out_1709250979764021582[271] = 0.0; - out_1709250979764021582[272] = 0.0; - out_1709250979764021582[273] = 0.0; - out_1709250979764021582[274] = 0.0; - out_1709250979764021582[275] = 0.0; - out_1709250979764021582[276] = 0.0; - out_1709250979764021582[277] = 0.0; - out_1709250979764021582[278] = 0.0; - out_1709250979764021582[279] = 0.0; - out_1709250979764021582[280] = 0.0; - out_1709250979764021582[281] = 0.0; - out_1709250979764021582[282] = 0.0; - out_1709250979764021582[283] = 0.0; - out_1709250979764021582[284] = 0.0; - out_1709250979764021582[285] = 1.0; - out_1709250979764021582[286] = 0.0; - out_1709250979764021582[287] = 0.0; - out_1709250979764021582[288] = 0.0; - out_1709250979764021582[289] = 0.0; - out_1709250979764021582[290] = 0.0; - out_1709250979764021582[291] = 0.0; - out_1709250979764021582[292] = 0.0; - out_1709250979764021582[293] = 0.0; - out_1709250979764021582[294] = 0.0; - out_1709250979764021582[295] = 0.0; - out_1709250979764021582[296] = 0.0; - out_1709250979764021582[297] = 0.0; - out_1709250979764021582[298] = 0.0; - out_1709250979764021582[299] = 0.0; - out_1709250979764021582[300] = 0.0; - out_1709250979764021582[301] = 0.0; - out_1709250979764021582[302] = 0.0; - out_1709250979764021582[303] = 0.0; - out_1709250979764021582[304] = 1.0; - out_1709250979764021582[305] = 0.0; - out_1709250979764021582[306] = 0.0; - out_1709250979764021582[307] = 0.0; - out_1709250979764021582[308] = 0.0; - out_1709250979764021582[309] = 0.0; - out_1709250979764021582[310] = 0.0; - out_1709250979764021582[311] = 0.0; - out_1709250979764021582[312] = 0.0; - out_1709250979764021582[313] = 0.0; - out_1709250979764021582[314] = 0.0; - out_1709250979764021582[315] = 0.0; - out_1709250979764021582[316] = 0.0; - out_1709250979764021582[317] = 0.0; - out_1709250979764021582[318] = 0.0; - out_1709250979764021582[319] = 0.0; - out_1709250979764021582[320] = 0.0; - out_1709250979764021582[321] = 0.0; - out_1709250979764021582[322] = 0.0; - out_1709250979764021582[323] = 1.0; +void H_mod_fun(double *state, double *out_4284093078770863471) { + out_4284093078770863471[0] = 1.0; + out_4284093078770863471[1] = 0.0; + out_4284093078770863471[2] = 0.0; + out_4284093078770863471[3] = 0.0; + out_4284093078770863471[4] = 0.0; + out_4284093078770863471[5] = 0.0; + out_4284093078770863471[6] = 0.0; + out_4284093078770863471[7] = 0.0; + out_4284093078770863471[8] = 0.0; + out_4284093078770863471[9] = 0.0; + out_4284093078770863471[10] = 0.0; + out_4284093078770863471[11] = 0.0; + out_4284093078770863471[12] = 0.0; + out_4284093078770863471[13] = 0.0; + out_4284093078770863471[14] = 0.0; + out_4284093078770863471[15] = 0.0; + out_4284093078770863471[16] = 0.0; + out_4284093078770863471[17] = 0.0; + out_4284093078770863471[18] = 0.0; + out_4284093078770863471[19] = 1.0; + out_4284093078770863471[20] = 0.0; + out_4284093078770863471[21] = 0.0; + out_4284093078770863471[22] = 0.0; + out_4284093078770863471[23] = 0.0; + out_4284093078770863471[24] = 0.0; + out_4284093078770863471[25] = 0.0; + out_4284093078770863471[26] = 0.0; + out_4284093078770863471[27] = 0.0; + out_4284093078770863471[28] = 0.0; + out_4284093078770863471[29] = 0.0; + out_4284093078770863471[30] = 0.0; + out_4284093078770863471[31] = 0.0; + out_4284093078770863471[32] = 0.0; + out_4284093078770863471[33] = 0.0; + out_4284093078770863471[34] = 0.0; + out_4284093078770863471[35] = 0.0; + out_4284093078770863471[36] = 0.0; + out_4284093078770863471[37] = 0.0; + out_4284093078770863471[38] = 1.0; + out_4284093078770863471[39] = 0.0; + out_4284093078770863471[40] = 0.0; + out_4284093078770863471[41] = 0.0; + out_4284093078770863471[42] = 0.0; + out_4284093078770863471[43] = 0.0; + out_4284093078770863471[44] = 0.0; + out_4284093078770863471[45] = 0.0; + out_4284093078770863471[46] = 0.0; + out_4284093078770863471[47] = 0.0; + out_4284093078770863471[48] = 0.0; + out_4284093078770863471[49] = 0.0; + out_4284093078770863471[50] = 0.0; + out_4284093078770863471[51] = 0.0; + out_4284093078770863471[52] = 0.0; + out_4284093078770863471[53] = 0.0; + out_4284093078770863471[54] = 0.0; + out_4284093078770863471[55] = 0.0; + out_4284093078770863471[56] = 0.0; + out_4284093078770863471[57] = 1.0; + out_4284093078770863471[58] = 0.0; + out_4284093078770863471[59] = 0.0; + out_4284093078770863471[60] = 0.0; + out_4284093078770863471[61] = 0.0; + out_4284093078770863471[62] = 0.0; + out_4284093078770863471[63] = 0.0; + out_4284093078770863471[64] = 0.0; + out_4284093078770863471[65] = 0.0; + out_4284093078770863471[66] = 0.0; + out_4284093078770863471[67] = 0.0; + out_4284093078770863471[68] = 0.0; + out_4284093078770863471[69] = 0.0; + out_4284093078770863471[70] = 0.0; + out_4284093078770863471[71] = 0.0; + out_4284093078770863471[72] = 0.0; + out_4284093078770863471[73] = 0.0; + out_4284093078770863471[74] = 0.0; + out_4284093078770863471[75] = 0.0; + out_4284093078770863471[76] = 1.0; + out_4284093078770863471[77] = 0.0; + out_4284093078770863471[78] = 0.0; + out_4284093078770863471[79] = 0.0; + out_4284093078770863471[80] = 0.0; + out_4284093078770863471[81] = 0.0; + out_4284093078770863471[82] = 0.0; + out_4284093078770863471[83] = 0.0; + out_4284093078770863471[84] = 0.0; + out_4284093078770863471[85] = 0.0; + out_4284093078770863471[86] = 0.0; + out_4284093078770863471[87] = 0.0; + out_4284093078770863471[88] = 0.0; + out_4284093078770863471[89] = 0.0; + out_4284093078770863471[90] = 0.0; + out_4284093078770863471[91] = 0.0; + out_4284093078770863471[92] = 0.0; + out_4284093078770863471[93] = 0.0; + out_4284093078770863471[94] = 0.0; + out_4284093078770863471[95] = 1.0; + out_4284093078770863471[96] = 0.0; + out_4284093078770863471[97] = 0.0; + out_4284093078770863471[98] = 0.0; + out_4284093078770863471[99] = 0.0; + out_4284093078770863471[100] = 0.0; + out_4284093078770863471[101] = 0.0; + out_4284093078770863471[102] = 0.0; + out_4284093078770863471[103] = 0.0; + out_4284093078770863471[104] = 0.0; + out_4284093078770863471[105] = 0.0; + out_4284093078770863471[106] = 0.0; + out_4284093078770863471[107] = 0.0; + out_4284093078770863471[108] = 0.0; + out_4284093078770863471[109] = 0.0; + out_4284093078770863471[110] = 0.0; + out_4284093078770863471[111] = 0.0; + out_4284093078770863471[112] = 0.0; + out_4284093078770863471[113] = 0.0; + out_4284093078770863471[114] = 1.0; + out_4284093078770863471[115] = 0.0; + out_4284093078770863471[116] = 0.0; + out_4284093078770863471[117] = 0.0; + out_4284093078770863471[118] = 0.0; + out_4284093078770863471[119] = 0.0; + out_4284093078770863471[120] = 0.0; + out_4284093078770863471[121] = 0.0; + out_4284093078770863471[122] = 0.0; + out_4284093078770863471[123] = 0.0; + out_4284093078770863471[124] = 0.0; + out_4284093078770863471[125] = 0.0; + out_4284093078770863471[126] = 0.0; + out_4284093078770863471[127] = 0.0; + out_4284093078770863471[128] = 0.0; + out_4284093078770863471[129] = 0.0; + out_4284093078770863471[130] = 0.0; + out_4284093078770863471[131] = 0.0; + out_4284093078770863471[132] = 0.0; + out_4284093078770863471[133] = 1.0; + out_4284093078770863471[134] = 0.0; + out_4284093078770863471[135] = 0.0; + out_4284093078770863471[136] = 0.0; + out_4284093078770863471[137] = 0.0; + out_4284093078770863471[138] = 0.0; + out_4284093078770863471[139] = 0.0; + out_4284093078770863471[140] = 0.0; + out_4284093078770863471[141] = 0.0; + out_4284093078770863471[142] = 0.0; + out_4284093078770863471[143] = 0.0; + out_4284093078770863471[144] = 0.0; + out_4284093078770863471[145] = 0.0; + out_4284093078770863471[146] = 0.0; + out_4284093078770863471[147] = 0.0; + out_4284093078770863471[148] = 0.0; + out_4284093078770863471[149] = 0.0; + out_4284093078770863471[150] = 0.0; + out_4284093078770863471[151] = 0.0; + out_4284093078770863471[152] = 1.0; + out_4284093078770863471[153] = 0.0; + out_4284093078770863471[154] = 0.0; + out_4284093078770863471[155] = 0.0; + out_4284093078770863471[156] = 0.0; + out_4284093078770863471[157] = 0.0; + out_4284093078770863471[158] = 0.0; + out_4284093078770863471[159] = 0.0; + out_4284093078770863471[160] = 0.0; + out_4284093078770863471[161] = 0.0; + out_4284093078770863471[162] = 0.0; + out_4284093078770863471[163] = 0.0; + out_4284093078770863471[164] = 0.0; + out_4284093078770863471[165] = 0.0; + out_4284093078770863471[166] = 0.0; + out_4284093078770863471[167] = 0.0; + out_4284093078770863471[168] = 0.0; + out_4284093078770863471[169] = 0.0; + out_4284093078770863471[170] = 0.0; + out_4284093078770863471[171] = 1.0; + out_4284093078770863471[172] = 0.0; + out_4284093078770863471[173] = 0.0; + out_4284093078770863471[174] = 0.0; + out_4284093078770863471[175] = 0.0; + out_4284093078770863471[176] = 0.0; + out_4284093078770863471[177] = 0.0; + out_4284093078770863471[178] = 0.0; + out_4284093078770863471[179] = 0.0; + out_4284093078770863471[180] = 0.0; + out_4284093078770863471[181] = 0.0; + out_4284093078770863471[182] = 0.0; + out_4284093078770863471[183] = 0.0; + out_4284093078770863471[184] = 0.0; + out_4284093078770863471[185] = 0.0; + out_4284093078770863471[186] = 0.0; + out_4284093078770863471[187] = 0.0; + out_4284093078770863471[188] = 0.0; + out_4284093078770863471[189] = 0.0; + out_4284093078770863471[190] = 1.0; + out_4284093078770863471[191] = 0.0; + out_4284093078770863471[192] = 0.0; + out_4284093078770863471[193] = 0.0; + out_4284093078770863471[194] = 0.0; + out_4284093078770863471[195] = 0.0; + out_4284093078770863471[196] = 0.0; + out_4284093078770863471[197] = 0.0; + out_4284093078770863471[198] = 0.0; + out_4284093078770863471[199] = 0.0; + out_4284093078770863471[200] = 0.0; + out_4284093078770863471[201] = 0.0; + out_4284093078770863471[202] = 0.0; + out_4284093078770863471[203] = 0.0; + out_4284093078770863471[204] = 0.0; + out_4284093078770863471[205] = 0.0; + out_4284093078770863471[206] = 0.0; + out_4284093078770863471[207] = 0.0; + out_4284093078770863471[208] = 0.0; + out_4284093078770863471[209] = 1.0; + out_4284093078770863471[210] = 0.0; + out_4284093078770863471[211] = 0.0; + out_4284093078770863471[212] = 0.0; + out_4284093078770863471[213] = 0.0; + out_4284093078770863471[214] = 0.0; + out_4284093078770863471[215] = 0.0; + out_4284093078770863471[216] = 0.0; + out_4284093078770863471[217] = 0.0; + out_4284093078770863471[218] = 0.0; + out_4284093078770863471[219] = 0.0; + out_4284093078770863471[220] = 0.0; + out_4284093078770863471[221] = 0.0; + out_4284093078770863471[222] = 0.0; + out_4284093078770863471[223] = 0.0; + out_4284093078770863471[224] = 0.0; + out_4284093078770863471[225] = 0.0; + out_4284093078770863471[226] = 0.0; + out_4284093078770863471[227] = 0.0; + out_4284093078770863471[228] = 1.0; + out_4284093078770863471[229] = 0.0; + out_4284093078770863471[230] = 0.0; + out_4284093078770863471[231] = 0.0; + out_4284093078770863471[232] = 0.0; + out_4284093078770863471[233] = 0.0; + out_4284093078770863471[234] = 0.0; + out_4284093078770863471[235] = 0.0; + out_4284093078770863471[236] = 0.0; + out_4284093078770863471[237] = 0.0; + out_4284093078770863471[238] = 0.0; + out_4284093078770863471[239] = 0.0; + out_4284093078770863471[240] = 0.0; + out_4284093078770863471[241] = 0.0; + out_4284093078770863471[242] = 0.0; + out_4284093078770863471[243] = 0.0; + out_4284093078770863471[244] = 0.0; + out_4284093078770863471[245] = 0.0; + out_4284093078770863471[246] = 0.0; + out_4284093078770863471[247] = 1.0; + out_4284093078770863471[248] = 0.0; + out_4284093078770863471[249] = 0.0; + out_4284093078770863471[250] = 0.0; + out_4284093078770863471[251] = 0.0; + out_4284093078770863471[252] = 0.0; + out_4284093078770863471[253] = 0.0; + out_4284093078770863471[254] = 0.0; + out_4284093078770863471[255] = 0.0; + out_4284093078770863471[256] = 0.0; + out_4284093078770863471[257] = 0.0; + out_4284093078770863471[258] = 0.0; + out_4284093078770863471[259] = 0.0; + out_4284093078770863471[260] = 0.0; + out_4284093078770863471[261] = 0.0; + out_4284093078770863471[262] = 0.0; + out_4284093078770863471[263] = 0.0; + out_4284093078770863471[264] = 0.0; + out_4284093078770863471[265] = 0.0; + out_4284093078770863471[266] = 1.0; + out_4284093078770863471[267] = 0.0; + out_4284093078770863471[268] = 0.0; + out_4284093078770863471[269] = 0.0; + out_4284093078770863471[270] = 0.0; + out_4284093078770863471[271] = 0.0; + out_4284093078770863471[272] = 0.0; + out_4284093078770863471[273] = 0.0; + out_4284093078770863471[274] = 0.0; + out_4284093078770863471[275] = 0.0; + out_4284093078770863471[276] = 0.0; + out_4284093078770863471[277] = 0.0; + out_4284093078770863471[278] = 0.0; + out_4284093078770863471[279] = 0.0; + out_4284093078770863471[280] = 0.0; + out_4284093078770863471[281] = 0.0; + out_4284093078770863471[282] = 0.0; + out_4284093078770863471[283] = 0.0; + out_4284093078770863471[284] = 0.0; + out_4284093078770863471[285] = 1.0; + out_4284093078770863471[286] = 0.0; + out_4284093078770863471[287] = 0.0; + out_4284093078770863471[288] = 0.0; + out_4284093078770863471[289] = 0.0; + out_4284093078770863471[290] = 0.0; + out_4284093078770863471[291] = 0.0; + out_4284093078770863471[292] = 0.0; + out_4284093078770863471[293] = 0.0; + out_4284093078770863471[294] = 0.0; + out_4284093078770863471[295] = 0.0; + out_4284093078770863471[296] = 0.0; + out_4284093078770863471[297] = 0.0; + out_4284093078770863471[298] = 0.0; + out_4284093078770863471[299] = 0.0; + out_4284093078770863471[300] = 0.0; + out_4284093078770863471[301] = 0.0; + out_4284093078770863471[302] = 0.0; + out_4284093078770863471[303] = 0.0; + out_4284093078770863471[304] = 1.0; + out_4284093078770863471[305] = 0.0; + out_4284093078770863471[306] = 0.0; + out_4284093078770863471[307] = 0.0; + out_4284093078770863471[308] = 0.0; + out_4284093078770863471[309] = 0.0; + out_4284093078770863471[310] = 0.0; + out_4284093078770863471[311] = 0.0; + out_4284093078770863471[312] = 0.0; + out_4284093078770863471[313] = 0.0; + out_4284093078770863471[314] = 0.0; + out_4284093078770863471[315] = 0.0; + out_4284093078770863471[316] = 0.0; + out_4284093078770863471[317] = 0.0; + out_4284093078770863471[318] = 0.0; + out_4284093078770863471[319] = 0.0; + out_4284093078770863471[320] = 0.0; + out_4284093078770863471[321] = 0.0; + out_4284093078770863471[322] = 0.0; + out_4284093078770863471[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1316099113648689196) { - out_1316099113648689196[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_1316099113648689196[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_1316099113648689196[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_1316099113648689196[3] = dt*state[12] + state[3]; - out_1316099113648689196[4] = dt*state[13] + state[4]; - out_1316099113648689196[5] = dt*state[14] + state[5]; - out_1316099113648689196[6] = state[6]; - out_1316099113648689196[7] = state[7]; - out_1316099113648689196[8] = state[8]; - out_1316099113648689196[9] = state[9]; - out_1316099113648689196[10] = state[10]; - out_1316099113648689196[11] = state[11]; - out_1316099113648689196[12] = state[12]; - out_1316099113648689196[13] = state[13]; - out_1316099113648689196[14] = state[14]; - out_1316099113648689196[15] = state[15]; - out_1316099113648689196[16] = state[16]; - out_1316099113648689196[17] = state[17]; +void f_fun(double *state, double dt, double *out_6442140298881834415) { + out_6442140298881834415[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_6442140298881834415[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_6442140298881834415[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_6442140298881834415[3] = dt*state[12] + state[3]; + out_6442140298881834415[4] = dt*state[13] + state[4]; + out_6442140298881834415[5] = dt*state[14] + state[5]; + out_6442140298881834415[6] = state[6]; + out_6442140298881834415[7] = state[7]; + out_6442140298881834415[8] = state[8]; + out_6442140298881834415[9] = state[9]; + out_6442140298881834415[10] = state[10]; + out_6442140298881834415[11] = state[11]; + out_6442140298881834415[12] = state[12]; + out_6442140298881834415[13] = state[13]; + out_6442140298881834415[14] = state[14]; + out_6442140298881834415[15] = state[15]; + out_6442140298881834415[16] = state[16]; + out_6442140298881834415[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4732408561172474784) { - out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[2] = 0; - out_4732408561172474784[3] = 0; - out_4732408561172474784[4] = 0; - out_4732408561172474784[5] = 0; - out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[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_4732408561172474784[9] = 0; - out_4732408561172474784[10] = 0; - out_4732408561172474784[11] = 0; - out_4732408561172474784[12] = 0; - out_4732408561172474784[13] = 0; - out_4732408561172474784[14] = 0; - out_4732408561172474784[15] = 0; - out_4732408561172474784[16] = 0; - out_4732408561172474784[17] = 0; - out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[20] = 0; - out_4732408561172474784[21] = 0; - out_4732408561172474784[22] = 0; - out_4732408561172474784[23] = 0; - out_4732408561172474784[24] = 0; - out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[27] = 0; - out_4732408561172474784[28] = 0; - out_4732408561172474784[29] = 0; - out_4732408561172474784[30] = 0; - out_4732408561172474784[31] = 0; - out_4732408561172474784[32] = 0; - out_4732408561172474784[33] = 0; - out_4732408561172474784[34] = 0; - out_4732408561172474784[35] = 0; - out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[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_4732408561172474784[39] = 0; - out_4732408561172474784[40] = 0; - out_4732408561172474784[41] = 0; - out_4732408561172474784[42] = 0; - out_4732408561172474784[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_4732408561172474784[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_4732408561172474784[45] = 0; - out_4732408561172474784[46] = 0; - out_4732408561172474784[47] = 0; - out_4732408561172474784[48] = 0; - out_4732408561172474784[49] = 0; - out_4732408561172474784[50] = 0; - out_4732408561172474784[51] = 0; - out_4732408561172474784[52] = 0; - out_4732408561172474784[53] = 0; - out_4732408561172474784[54] = 0; - out_4732408561172474784[55] = 0; - out_4732408561172474784[56] = 0; - out_4732408561172474784[57] = 1; - out_4732408561172474784[58] = 0; - out_4732408561172474784[59] = 0; - out_4732408561172474784[60] = 0; - out_4732408561172474784[61] = 0; - out_4732408561172474784[62] = 0; - out_4732408561172474784[63] = 0; - out_4732408561172474784[64] = 0; - out_4732408561172474784[65] = 0; - out_4732408561172474784[66] = dt; - out_4732408561172474784[67] = 0; - out_4732408561172474784[68] = 0; - out_4732408561172474784[69] = 0; - out_4732408561172474784[70] = 0; - out_4732408561172474784[71] = 0; - out_4732408561172474784[72] = 0; - out_4732408561172474784[73] = 0; - out_4732408561172474784[74] = 0; - out_4732408561172474784[75] = 0; - out_4732408561172474784[76] = 1; - out_4732408561172474784[77] = 0; - out_4732408561172474784[78] = 0; - out_4732408561172474784[79] = 0; - out_4732408561172474784[80] = 0; - out_4732408561172474784[81] = 0; - out_4732408561172474784[82] = 0; - out_4732408561172474784[83] = 0; - out_4732408561172474784[84] = 0; - out_4732408561172474784[85] = dt; - out_4732408561172474784[86] = 0; - out_4732408561172474784[87] = 0; - out_4732408561172474784[88] = 0; - out_4732408561172474784[89] = 0; - out_4732408561172474784[90] = 0; - out_4732408561172474784[91] = 0; - out_4732408561172474784[92] = 0; - out_4732408561172474784[93] = 0; - out_4732408561172474784[94] = 0; - out_4732408561172474784[95] = 1; - out_4732408561172474784[96] = 0; - out_4732408561172474784[97] = 0; - out_4732408561172474784[98] = 0; - out_4732408561172474784[99] = 0; - out_4732408561172474784[100] = 0; - out_4732408561172474784[101] = 0; - out_4732408561172474784[102] = 0; - out_4732408561172474784[103] = 0; - out_4732408561172474784[104] = dt; - out_4732408561172474784[105] = 0; - out_4732408561172474784[106] = 0; - out_4732408561172474784[107] = 0; - out_4732408561172474784[108] = 0; - out_4732408561172474784[109] = 0; - out_4732408561172474784[110] = 0; - out_4732408561172474784[111] = 0; - out_4732408561172474784[112] = 0; - out_4732408561172474784[113] = 0; - out_4732408561172474784[114] = 1; - out_4732408561172474784[115] = 0; - out_4732408561172474784[116] = 0; - out_4732408561172474784[117] = 0; - out_4732408561172474784[118] = 0; - out_4732408561172474784[119] = 0; - out_4732408561172474784[120] = 0; - out_4732408561172474784[121] = 0; - out_4732408561172474784[122] = 0; - out_4732408561172474784[123] = 0; - out_4732408561172474784[124] = 0; - out_4732408561172474784[125] = 0; - out_4732408561172474784[126] = 0; - out_4732408561172474784[127] = 0; - out_4732408561172474784[128] = 0; - out_4732408561172474784[129] = 0; - out_4732408561172474784[130] = 0; - out_4732408561172474784[131] = 0; - out_4732408561172474784[132] = 0; - out_4732408561172474784[133] = 1; - out_4732408561172474784[134] = 0; - out_4732408561172474784[135] = 0; - out_4732408561172474784[136] = 0; - out_4732408561172474784[137] = 0; - out_4732408561172474784[138] = 0; - out_4732408561172474784[139] = 0; - out_4732408561172474784[140] = 0; - out_4732408561172474784[141] = 0; - out_4732408561172474784[142] = 0; - out_4732408561172474784[143] = 0; - out_4732408561172474784[144] = 0; - out_4732408561172474784[145] = 0; - out_4732408561172474784[146] = 0; - out_4732408561172474784[147] = 0; - out_4732408561172474784[148] = 0; - out_4732408561172474784[149] = 0; - out_4732408561172474784[150] = 0; - out_4732408561172474784[151] = 0; - out_4732408561172474784[152] = 1; - out_4732408561172474784[153] = 0; - out_4732408561172474784[154] = 0; - out_4732408561172474784[155] = 0; - out_4732408561172474784[156] = 0; - out_4732408561172474784[157] = 0; - out_4732408561172474784[158] = 0; - out_4732408561172474784[159] = 0; - out_4732408561172474784[160] = 0; - out_4732408561172474784[161] = 0; - out_4732408561172474784[162] = 0; - out_4732408561172474784[163] = 0; - out_4732408561172474784[164] = 0; - out_4732408561172474784[165] = 0; - out_4732408561172474784[166] = 0; - out_4732408561172474784[167] = 0; - out_4732408561172474784[168] = 0; - out_4732408561172474784[169] = 0; - out_4732408561172474784[170] = 0; - out_4732408561172474784[171] = 1; - out_4732408561172474784[172] = 0; - out_4732408561172474784[173] = 0; - out_4732408561172474784[174] = 0; - out_4732408561172474784[175] = 0; - out_4732408561172474784[176] = 0; - out_4732408561172474784[177] = 0; - out_4732408561172474784[178] = 0; - out_4732408561172474784[179] = 0; - out_4732408561172474784[180] = 0; - out_4732408561172474784[181] = 0; - out_4732408561172474784[182] = 0; - out_4732408561172474784[183] = 0; - out_4732408561172474784[184] = 0; - out_4732408561172474784[185] = 0; - out_4732408561172474784[186] = 0; - out_4732408561172474784[187] = 0; - out_4732408561172474784[188] = 0; - out_4732408561172474784[189] = 0; - out_4732408561172474784[190] = 1; - out_4732408561172474784[191] = 0; - out_4732408561172474784[192] = 0; - out_4732408561172474784[193] = 0; - out_4732408561172474784[194] = 0; - out_4732408561172474784[195] = 0; - out_4732408561172474784[196] = 0; - out_4732408561172474784[197] = 0; - out_4732408561172474784[198] = 0; - out_4732408561172474784[199] = 0; - out_4732408561172474784[200] = 0; - out_4732408561172474784[201] = 0; - out_4732408561172474784[202] = 0; - out_4732408561172474784[203] = 0; - out_4732408561172474784[204] = 0; - out_4732408561172474784[205] = 0; - out_4732408561172474784[206] = 0; - out_4732408561172474784[207] = 0; - out_4732408561172474784[208] = 0; - out_4732408561172474784[209] = 1; - out_4732408561172474784[210] = 0; - out_4732408561172474784[211] = 0; - out_4732408561172474784[212] = 0; - out_4732408561172474784[213] = 0; - out_4732408561172474784[214] = 0; - out_4732408561172474784[215] = 0; - out_4732408561172474784[216] = 0; - out_4732408561172474784[217] = 0; - out_4732408561172474784[218] = 0; - out_4732408561172474784[219] = 0; - out_4732408561172474784[220] = 0; - out_4732408561172474784[221] = 0; - out_4732408561172474784[222] = 0; - out_4732408561172474784[223] = 0; - out_4732408561172474784[224] = 0; - out_4732408561172474784[225] = 0; - out_4732408561172474784[226] = 0; - out_4732408561172474784[227] = 0; - out_4732408561172474784[228] = 1; - out_4732408561172474784[229] = 0; - out_4732408561172474784[230] = 0; - out_4732408561172474784[231] = 0; - out_4732408561172474784[232] = 0; - out_4732408561172474784[233] = 0; - out_4732408561172474784[234] = 0; - out_4732408561172474784[235] = 0; - out_4732408561172474784[236] = 0; - out_4732408561172474784[237] = 0; - out_4732408561172474784[238] = 0; - out_4732408561172474784[239] = 0; - out_4732408561172474784[240] = 0; - out_4732408561172474784[241] = 0; - out_4732408561172474784[242] = 0; - out_4732408561172474784[243] = 0; - out_4732408561172474784[244] = 0; - out_4732408561172474784[245] = 0; - out_4732408561172474784[246] = 0; - out_4732408561172474784[247] = 1; - out_4732408561172474784[248] = 0; - out_4732408561172474784[249] = 0; - out_4732408561172474784[250] = 0; - out_4732408561172474784[251] = 0; - out_4732408561172474784[252] = 0; - out_4732408561172474784[253] = 0; - out_4732408561172474784[254] = 0; - out_4732408561172474784[255] = 0; - out_4732408561172474784[256] = 0; - out_4732408561172474784[257] = 0; - out_4732408561172474784[258] = 0; - out_4732408561172474784[259] = 0; - out_4732408561172474784[260] = 0; - out_4732408561172474784[261] = 0; - out_4732408561172474784[262] = 0; - out_4732408561172474784[263] = 0; - out_4732408561172474784[264] = 0; - out_4732408561172474784[265] = 0; - out_4732408561172474784[266] = 1; - out_4732408561172474784[267] = 0; - out_4732408561172474784[268] = 0; - out_4732408561172474784[269] = 0; - out_4732408561172474784[270] = 0; - out_4732408561172474784[271] = 0; - out_4732408561172474784[272] = 0; - out_4732408561172474784[273] = 0; - out_4732408561172474784[274] = 0; - out_4732408561172474784[275] = 0; - out_4732408561172474784[276] = 0; - out_4732408561172474784[277] = 0; - out_4732408561172474784[278] = 0; - out_4732408561172474784[279] = 0; - out_4732408561172474784[280] = 0; - out_4732408561172474784[281] = 0; - out_4732408561172474784[282] = 0; - out_4732408561172474784[283] = 0; - out_4732408561172474784[284] = 0; - out_4732408561172474784[285] = 1; - out_4732408561172474784[286] = 0; - out_4732408561172474784[287] = 0; - out_4732408561172474784[288] = 0; - out_4732408561172474784[289] = 0; - out_4732408561172474784[290] = 0; - out_4732408561172474784[291] = 0; - out_4732408561172474784[292] = 0; - out_4732408561172474784[293] = 0; - out_4732408561172474784[294] = 0; - out_4732408561172474784[295] = 0; - out_4732408561172474784[296] = 0; - out_4732408561172474784[297] = 0; - out_4732408561172474784[298] = 0; - out_4732408561172474784[299] = 0; - out_4732408561172474784[300] = 0; - out_4732408561172474784[301] = 0; - out_4732408561172474784[302] = 0; - out_4732408561172474784[303] = 0; - out_4732408561172474784[304] = 1; - out_4732408561172474784[305] = 0; - out_4732408561172474784[306] = 0; - out_4732408561172474784[307] = 0; - out_4732408561172474784[308] = 0; - out_4732408561172474784[309] = 0; - out_4732408561172474784[310] = 0; - out_4732408561172474784[311] = 0; - out_4732408561172474784[312] = 0; - out_4732408561172474784[313] = 0; - out_4732408561172474784[314] = 0; - out_4732408561172474784[315] = 0; - out_4732408561172474784[316] = 0; - out_4732408561172474784[317] = 0; - out_4732408561172474784[318] = 0; - out_4732408561172474784[319] = 0; - out_4732408561172474784[320] = 0; - out_4732408561172474784[321] = 0; - out_4732408561172474784[322] = 0; - out_4732408561172474784[323] = 1; +void F_fun(double *state, double dt, double *out_3934539972733810872) { + out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[2] = 0; + out_3934539972733810872[3] = 0; + out_3934539972733810872[4] = 0; + out_3934539972733810872[5] = 0; + out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[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_3934539972733810872[9] = 0; + out_3934539972733810872[10] = 0; + out_3934539972733810872[11] = 0; + out_3934539972733810872[12] = 0; + out_3934539972733810872[13] = 0; + out_3934539972733810872[14] = 0; + out_3934539972733810872[15] = 0; + out_3934539972733810872[16] = 0; + out_3934539972733810872[17] = 0; + out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[20] = 0; + out_3934539972733810872[21] = 0; + out_3934539972733810872[22] = 0; + out_3934539972733810872[23] = 0; + out_3934539972733810872[24] = 0; + out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[27] = 0; + out_3934539972733810872[28] = 0; + out_3934539972733810872[29] = 0; + out_3934539972733810872[30] = 0; + out_3934539972733810872[31] = 0; + out_3934539972733810872[32] = 0; + out_3934539972733810872[33] = 0; + out_3934539972733810872[34] = 0; + out_3934539972733810872[35] = 0; + out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[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_3934539972733810872[39] = 0; + out_3934539972733810872[40] = 0; + out_3934539972733810872[41] = 0; + out_3934539972733810872[42] = 0; + out_3934539972733810872[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_3934539972733810872[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_3934539972733810872[45] = 0; + out_3934539972733810872[46] = 0; + out_3934539972733810872[47] = 0; + out_3934539972733810872[48] = 0; + out_3934539972733810872[49] = 0; + out_3934539972733810872[50] = 0; + out_3934539972733810872[51] = 0; + out_3934539972733810872[52] = 0; + out_3934539972733810872[53] = 0; + out_3934539972733810872[54] = 0; + out_3934539972733810872[55] = 0; + out_3934539972733810872[56] = 0; + out_3934539972733810872[57] = 1; + out_3934539972733810872[58] = 0; + out_3934539972733810872[59] = 0; + out_3934539972733810872[60] = 0; + out_3934539972733810872[61] = 0; + out_3934539972733810872[62] = 0; + out_3934539972733810872[63] = 0; + out_3934539972733810872[64] = 0; + out_3934539972733810872[65] = 0; + out_3934539972733810872[66] = dt; + out_3934539972733810872[67] = 0; + out_3934539972733810872[68] = 0; + out_3934539972733810872[69] = 0; + out_3934539972733810872[70] = 0; + out_3934539972733810872[71] = 0; + out_3934539972733810872[72] = 0; + out_3934539972733810872[73] = 0; + out_3934539972733810872[74] = 0; + out_3934539972733810872[75] = 0; + out_3934539972733810872[76] = 1; + out_3934539972733810872[77] = 0; + out_3934539972733810872[78] = 0; + out_3934539972733810872[79] = 0; + out_3934539972733810872[80] = 0; + out_3934539972733810872[81] = 0; + out_3934539972733810872[82] = 0; + out_3934539972733810872[83] = 0; + out_3934539972733810872[84] = 0; + out_3934539972733810872[85] = dt; + out_3934539972733810872[86] = 0; + out_3934539972733810872[87] = 0; + out_3934539972733810872[88] = 0; + out_3934539972733810872[89] = 0; + out_3934539972733810872[90] = 0; + out_3934539972733810872[91] = 0; + out_3934539972733810872[92] = 0; + out_3934539972733810872[93] = 0; + out_3934539972733810872[94] = 0; + out_3934539972733810872[95] = 1; + out_3934539972733810872[96] = 0; + out_3934539972733810872[97] = 0; + out_3934539972733810872[98] = 0; + out_3934539972733810872[99] = 0; + out_3934539972733810872[100] = 0; + out_3934539972733810872[101] = 0; + out_3934539972733810872[102] = 0; + out_3934539972733810872[103] = 0; + out_3934539972733810872[104] = dt; + out_3934539972733810872[105] = 0; + out_3934539972733810872[106] = 0; + out_3934539972733810872[107] = 0; + out_3934539972733810872[108] = 0; + out_3934539972733810872[109] = 0; + out_3934539972733810872[110] = 0; + out_3934539972733810872[111] = 0; + out_3934539972733810872[112] = 0; + out_3934539972733810872[113] = 0; + out_3934539972733810872[114] = 1; + out_3934539972733810872[115] = 0; + out_3934539972733810872[116] = 0; + out_3934539972733810872[117] = 0; + out_3934539972733810872[118] = 0; + out_3934539972733810872[119] = 0; + out_3934539972733810872[120] = 0; + out_3934539972733810872[121] = 0; + out_3934539972733810872[122] = 0; + out_3934539972733810872[123] = 0; + out_3934539972733810872[124] = 0; + out_3934539972733810872[125] = 0; + out_3934539972733810872[126] = 0; + out_3934539972733810872[127] = 0; + out_3934539972733810872[128] = 0; + out_3934539972733810872[129] = 0; + out_3934539972733810872[130] = 0; + out_3934539972733810872[131] = 0; + out_3934539972733810872[132] = 0; + out_3934539972733810872[133] = 1; + out_3934539972733810872[134] = 0; + out_3934539972733810872[135] = 0; + out_3934539972733810872[136] = 0; + out_3934539972733810872[137] = 0; + out_3934539972733810872[138] = 0; + out_3934539972733810872[139] = 0; + out_3934539972733810872[140] = 0; + out_3934539972733810872[141] = 0; + out_3934539972733810872[142] = 0; + out_3934539972733810872[143] = 0; + out_3934539972733810872[144] = 0; + out_3934539972733810872[145] = 0; + out_3934539972733810872[146] = 0; + out_3934539972733810872[147] = 0; + out_3934539972733810872[148] = 0; + out_3934539972733810872[149] = 0; + out_3934539972733810872[150] = 0; + out_3934539972733810872[151] = 0; + out_3934539972733810872[152] = 1; + out_3934539972733810872[153] = 0; + out_3934539972733810872[154] = 0; + out_3934539972733810872[155] = 0; + out_3934539972733810872[156] = 0; + out_3934539972733810872[157] = 0; + out_3934539972733810872[158] = 0; + out_3934539972733810872[159] = 0; + out_3934539972733810872[160] = 0; + out_3934539972733810872[161] = 0; + out_3934539972733810872[162] = 0; + out_3934539972733810872[163] = 0; + out_3934539972733810872[164] = 0; + out_3934539972733810872[165] = 0; + out_3934539972733810872[166] = 0; + out_3934539972733810872[167] = 0; + out_3934539972733810872[168] = 0; + out_3934539972733810872[169] = 0; + out_3934539972733810872[170] = 0; + out_3934539972733810872[171] = 1; + out_3934539972733810872[172] = 0; + out_3934539972733810872[173] = 0; + out_3934539972733810872[174] = 0; + out_3934539972733810872[175] = 0; + out_3934539972733810872[176] = 0; + out_3934539972733810872[177] = 0; + out_3934539972733810872[178] = 0; + out_3934539972733810872[179] = 0; + out_3934539972733810872[180] = 0; + out_3934539972733810872[181] = 0; + out_3934539972733810872[182] = 0; + out_3934539972733810872[183] = 0; + out_3934539972733810872[184] = 0; + out_3934539972733810872[185] = 0; + out_3934539972733810872[186] = 0; + out_3934539972733810872[187] = 0; + out_3934539972733810872[188] = 0; + out_3934539972733810872[189] = 0; + out_3934539972733810872[190] = 1; + out_3934539972733810872[191] = 0; + out_3934539972733810872[192] = 0; + out_3934539972733810872[193] = 0; + out_3934539972733810872[194] = 0; + out_3934539972733810872[195] = 0; + out_3934539972733810872[196] = 0; + out_3934539972733810872[197] = 0; + out_3934539972733810872[198] = 0; + out_3934539972733810872[199] = 0; + out_3934539972733810872[200] = 0; + out_3934539972733810872[201] = 0; + out_3934539972733810872[202] = 0; + out_3934539972733810872[203] = 0; + out_3934539972733810872[204] = 0; + out_3934539972733810872[205] = 0; + out_3934539972733810872[206] = 0; + out_3934539972733810872[207] = 0; + out_3934539972733810872[208] = 0; + out_3934539972733810872[209] = 1; + out_3934539972733810872[210] = 0; + out_3934539972733810872[211] = 0; + out_3934539972733810872[212] = 0; + out_3934539972733810872[213] = 0; + out_3934539972733810872[214] = 0; + out_3934539972733810872[215] = 0; + out_3934539972733810872[216] = 0; + out_3934539972733810872[217] = 0; + out_3934539972733810872[218] = 0; + out_3934539972733810872[219] = 0; + out_3934539972733810872[220] = 0; + out_3934539972733810872[221] = 0; + out_3934539972733810872[222] = 0; + out_3934539972733810872[223] = 0; + out_3934539972733810872[224] = 0; + out_3934539972733810872[225] = 0; + out_3934539972733810872[226] = 0; + out_3934539972733810872[227] = 0; + out_3934539972733810872[228] = 1; + out_3934539972733810872[229] = 0; + out_3934539972733810872[230] = 0; + out_3934539972733810872[231] = 0; + out_3934539972733810872[232] = 0; + out_3934539972733810872[233] = 0; + out_3934539972733810872[234] = 0; + out_3934539972733810872[235] = 0; + out_3934539972733810872[236] = 0; + out_3934539972733810872[237] = 0; + out_3934539972733810872[238] = 0; + out_3934539972733810872[239] = 0; + out_3934539972733810872[240] = 0; + out_3934539972733810872[241] = 0; + out_3934539972733810872[242] = 0; + out_3934539972733810872[243] = 0; + out_3934539972733810872[244] = 0; + out_3934539972733810872[245] = 0; + out_3934539972733810872[246] = 0; + out_3934539972733810872[247] = 1; + out_3934539972733810872[248] = 0; + out_3934539972733810872[249] = 0; + out_3934539972733810872[250] = 0; + out_3934539972733810872[251] = 0; + out_3934539972733810872[252] = 0; + out_3934539972733810872[253] = 0; + out_3934539972733810872[254] = 0; + out_3934539972733810872[255] = 0; + out_3934539972733810872[256] = 0; + out_3934539972733810872[257] = 0; + out_3934539972733810872[258] = 0; + out_3934539972733810872[259] = 0; + out_3934539972733810872[260] = 0; + out_3934539972733810872[261] = 0; + out_3934539972733810872[262] = 0; + out_3934539972733810872[263] = 0; + out_3934539972733810872[264] = 0; + out_3934539972733810872[265] = 0; + out_3934539972733810872[266] = 1; + out_3934539972733810872[267] = 0; + out_3934539972733810872[268] = 0; + out_3934539972733810872[269] = 0; + out_3934539972733810872[270] = 0; + out_3934539972733810872[271] = 0; + out_3934539972733810872[272] = 0; + out_3934539972733810872[273] = 0; + out_3934539972733810872[274] = 0; + out_3934539972733810872[275] = 0; + out_3934539972733810872[276] = 0; + out_3934539972733810872[277] = 0; + out_3934539972733810872[278] = 0; + out_3934539972733810872[279] = 0; + out_3934539972733810872[280] = 0; + out_3934539972733810872[281] = 0; + out_3934539972733810872[282] = 0; + out_3934539972733810872[283] = 0; + out_3934539972733810872[284] = 0; + out_3934539972733810872[285] = 1; + out_3934539972733810872[286] = 0; + out_3934539972733810872[287] = 0; + out_3934539972733810872[288] = 0; + out_3934539972733810872[289] = 0; + out_3934539972733810872[290] = 0; + out_3934539972733810872[291] = 0; + out_3934539972733810872[292] = 0; + out_3934539972733810872[293] = 0; + out_3934539972733810872[294] = 0; + out_3934539972733810872[295] = 0; + out_3934539972733810872[296] = 0; + out_3934539972733810872[297] = 0; + out_3934539972733810872[298] = 0; + out_3934539972733810872[299] = 0; + out_3934539972733810872[300] = 0; + out_3934539972733810872[301] = 0; + out_3934539972733810872[302] = 0; + out_3934539972733810872[303] = 0; + out_3934539972733810872[304] = 1; + out_3934539972733810872[305] = 0; + out_3934539972733810872[306] = 0; + out_3934539972733810872[307] = 0; + out_3934539972733810872[308] = 0; + out_3934539972733810872[309] = 0; + out_3934539972733810872[310] = 0; + out_3934539972733810872[311] = 0; + out_3934539972733810872[312] = 0; + out_3934539972733810872[313] = 0; + out_3934539972733810872[314] = 0; + out_3934539972733810872[315] = 0; + out_3934539972733810872[316] = 0; + out_3934539972733810872[317] = 0; + out_3934539972733810872[318] = 0; + out_3934539972733810872[319] = 0; + out_3934539972733810872[320] = 0; + out_3934539972733810872[321] = 0; + out_3934539972733810872[322] = 0; + out_3934539972733810872[323] = 1; } -void h_4(double *state, double *unused, double *out_6918932125970712407) { - out_6918932125970712407[0] = state[6] + state[9]; - out_6918932125970712407[1] = state[7] + state[10]; - out_6918932125970712407[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_9108176221739377223) { + out_9108176221739377223[0] = state[6] + state[9]; + out_9108176221739377223[1] = state[7] + state[10]; + out_9108176221739377223[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1564971099026927671) { - out_1564971099026927671[0] = 0; - out_1564971099026927671[1] = 0; - out_1564971099026927671[2] = 0; - out_1564971099026927671[3] = 0; - out_1564971099026927671[4] = 0; - out_1564971099026927671[5] = 0; - out_1564971099026927671[6] = 1; - out_1564971099026927671[7] = 0; - out_1564971099026927671[8] = 0; - out_1564971099026927671[9] = 1; - out_1564971099026927671[10] = 0; - out_1564971099026927671[11] = 0; - out_1564971099026927671[12] = 0; - out_1564971099026927671[13] = 0; - out_1564971099026927671[14] = 0; - out_1564971099026927671[15] = 0; - out_1564971099026927671[16] = 0; - out_1564971099026927671[17] = 0; - out_1564971099026927671[18] = 0; - out_1564971099026927671[19] = 0; - out_1564971099026927671[20] = 0; - out_1564971099026927671[21] = 0; - out_1564971099026927671[22] = 0; - out_1564971099026927671[23] = 0; - out_1564971099026927671[24] = 0; - out_1564971099026927671[25] = 1; - out_1564971099026927671[26] = 0; - out_1564971099026927671[27] = 0; - out_1564971099026927671[28] = 1; - out_1564971099026927671[29] = 0; - out_1564971099026927671[30] = 0; - out_1564971099026927671[31] = 0; - out_1564971099026927671[32] = 0; - out_1564971099026927671[33] = 0; - out_1564971099026927671[34] = 0; - out_1564971099026927671[35] = 0; - out_1564971099026927671[36] = 0; - out_1564971099026927671[37] = 0; - out_1564971099026927671[38] = 0; - out_1564971099026927671[39] = 0; - out_1564971099026927671[40] = 0; - out_1564971099026927671[41] = 0; - out_1564971099026927671[42] = 0; - out_1564971099026927671[43] = 0; - out_1564971099026927671[44] = 1; - out_1564971099026927671[45] = 0; - out_1564971099026927671[46] = 0; - out_1564971099026927671[47] = 1; - out_1564971099026927671[48] = 0; - out_1564971099026927671[49] = 0; - out_1564971099026927671[50] = 0; - out_1564971099026927671[51] = 0; - out_1564971099026927671[52] = 0; - out_1564971099026927671[53] = 0; +void H_4(double *state, double *unused, double *out_3529932076716150864) { + out_3529932076716150864[0] = 0; + out_3529932076716150864[1] = 0; + out_3529932076716150864[2] = 0; + out_3529932076716150864[3] = 0; + out_3529932076716150864[4] = 0; + out_3529932076716150864[5] = 0; + out_3529932076716150864[6] = 1; + out_3529932076716150864[7] = 0; + out_3529932076716150864[8] = 0; + out_3529932076716150864[9] = 1; + out_3529932076716150864[10] = 0; + out_3529932076716150864[11] = 0; + out_3529932076716150864[12] = 0; + out_3529932076716150864[13] = 0; + out_3529932076716150864[14] = 0; + out_3529932076716150864[15] = 0; + out_3529932076716150864[16] = 0; + out_3529932076716150864[17] = 0; + out_3529932076716150864[18] = 0; + out_3529932076716150864[19] = 0; + out_3529932076716150864[20] = 0; + out_3529932076716150864[21] = 0; + out_3529932076716150864[22] = 0; + out_3529932076716150864[23] = 0; + out_3529932076716150864[24] = 0; + out_3529932076716150864[25] = 1; + out_3529932076716150864[26] = 0; + out_3529932076716150864[27] = 0; + out_3529932076716150864[28] = 1; + out_3529932076716150864[29] = 0; + out_3529932076716150864[30] = 0; + out_3529932076716150864[31] = 0; + out_3529932076716150864[32] = 0; + out_3529932076716150864[33] = 0; + out_3529932076716150864[34] = 0; + out_3529932076716150864[35] = 0; + out_3529932076716150864[36] = 0; + out_3529932076716150864[37] = 0; + out_3529932076716150864[38] = 0; + out_3529932076716150864[39] = 0; + out_3529932076716150864[40] = 0; + out_3529932076716150864[41] = 0; + out_3529932076716150864[42] = 0; + out_3529932076716150864[43] = 0; + out_3529932076716150864[44] = 1; + out_3529932076716150864[45] = 0; + out_3529932076716150864[46] = 0; + out_3529932076716150864[47] = 1; + out_3529932076716150864[48] = 0; + out_3529932076716150864[49] = 0; + out_3529932076716150864[50] = 0; + out_3529932076716150864[51] = 0; + out_3529932076716150864[52] = 0; + out_3529932076716150864[53] = 0; } -void h_10(double *state, double *unused, double *out_3027582300414544631) { - out_3027582300414544631[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3027582300414544631[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3027582300414544631[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_7468804800035159097) { + out_7468804800035159097[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7468804800035159097[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7468804800035159097[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_3487027415066723561) { - out_3487027415066723561[0] = 0; - out_3487027415066723561[1] = 9.8100000000000005*cos(state[1]); - out_3487027415066723561[2] = 0; - out_3487027415066723561[3] = 0; - out_3487027415066723561[4] = -state[8]; - out_3487027415066723561[5] = state[7]; - out_3487027415066723561[6] = 0; - out_3487027415066723561[7] = state[5]; - out_3487027415066723561[8] = -state[4]; - out_3487027415066723561[9] = 0; - out_3487027415066723561[10] = 0; - out_3487027415066723561[11] = 0; - out_3487027415066723561[12] = 1; - out_3487027415066723561[13] = 0; - out_3487027415066723561[14] = 0; - out_3487027415066723561[15] = 1; - out_3487027415066723561[16] = 0; - out_3487027415066723561[17] = 0; - out_3487027415066723561[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_3487027415066723561[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_3487027415066723561[20] = 0; - out_3487027415066723561[21] = state[8]; - out_3487027415066723561[22] = 0; - out_3487027415066723561[23] = -state[6]; - out_3487027415066723561[24] = -state[5]; - out_3487027415066723561[25] = 0; - out_3487027415066723561[26] = state[3]; - out_3487027415066723561[27] = 0; - out_3487027415066723561[28] = 0; - out_3487027415066723561[29] = 0; - out_3487027415066723561[30] = 0; - out_3487027415066723561[31] = 1; - out_3487027415066723561[32] = 0; - out_3487027415066723561[33] = 0; - out_3487027415066723561[34] = 1; - out_3487027415066723561[35] = 0; - out_3487027415066723561[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_3487027415066723561[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_3487027415066723561[38] = 0; - out_3487027415066723561[39] = -state[7]; - out_3487027415066723561[40] = state[6]; - out_3487027415066723561[41] = 0; - out_3487027415066723561[42] = state[4]; - out_3487027415066723561[43] = -state[3]; - out_3487027415066723561[44] = 0; - out_3487027415066723561[45] = 0; - out_3487027415066723561[46] = 0; - out_3487027415066723561[47] = 0; - out_3487027415066723561[48] = 0; - out_3487027415066723561[49] = 0; - out_3487027415066723561[50] = 1; - out_3487027415066723561[51] = 0; - out_3487027415066723561[52] = 0; - out_3487027415066723561[53] = 1; +void H_10(double *state, double *unused, double *out_3178743347505224989) { + out_3178743347505224989[0] = 0; + out_3178743347505224989[1] = 9.8100000000000005*cos(state[1]); + out_3178743347505224989[2] = 0; + out_3178743347505224989[3] = 0; + out_3178743347505224989[4] = -state[8]; + out_3178743347505224989[5] = state[7]; + out_3178743347505224989[6] = 0; + out_3178743347505224989[7] = state[5]; + out_3178743347505224989[8] = -state[4]; + out_3178743347505224989[9] = 0; + out_3178743347505224989[10] = 0; + out_3178743347505224989[11] = 0; + out_3178743347505224989[12] = 1; + out_3178743347505224989[13] = 0; + out_3178743347505224989[14] = 0; + out_3178743347505224989[15] = 1; + out_3178743347505224989[16] = 0; + out_3178743347505224989[17] = 0; + out_3178743347505224989[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_3178743347505224989[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_3178743347505224989[20] = 0; + out_3178743347505224989[21] = state[8]; + out_3178743347505224989[22] = 0; + out_3178743347505224989[23] = -state[6]; + out_3178743347505224989[24] = -state[5]; + out_3178743347505224989[25] = 0; + out_3178743347505224989[26] = state[3]; + out_3178743347505224989[27] = 0; + out_3178743347505224989[28] = 0; + out_3178743347505224989[29] = 0; + out_3178743347505224989[30] = 0; + out_3178743347505224989[31] = 1; + out_3178743347505224989[32] = 0; + out_3178743347505224989[33] = 0; + out_3178743347505224989[34] = 1; + out_3178743347505224989[35] = 0; + out_3178743347505224989[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_3178743347505224989[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_3178743347505224989[38] = 0; + out_3178743347505224989[39] = -state[7]; + out_3178743347505224989[40] = state[6]; + out_3178743347505224989[41] = 0; + out_3178743347505224989[42] = state[4]; + out_3178743347505224989[43] = -state[3]; + out_3178743347505224989[44] = 0; + out_3178743347505224989[45] = 0; + out_3178743347505224989[46] = 0; + out_3178743347505224989[47] = 0; + out_3178743347505224989[48] = 0; + out_3178743347505224989[49] = 0; + out_3178743347505224989[50] = 1; + out_3178743347505224989[51] = 0; + out_3178743347505224989[52] = 0; + out_3178743347505224989[53] = 1; } -void h_13(double *state, double *unused, double *out_4493446518496679699) { - out_4493446518496679699[0] = state[3]; - out_4493446518496679699[1] = state[4]; - out_4493446518496679699[2] = state[5]; +void h_13(double *state, double *unused, double *out_2582510020496882256) { + out_2582510020496882256[0] = state[3]; + out_2582510020496882256[1] = state[4]; + out_2582510020496882256[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1647302726305405130) { - out_1647302726305405130[0] = 0; - out_1647302726305405130[1] = 0; - out_1647302726305405130[2] = 0; - out_1647302726305405130[3] = 1; - out_1647302726305405130[4] = 0; - out_1647302726305405130[5] = 0; - out_1647302726305405130[6] = 0; - out_1647302726305405130[7] = 0; - out_1647302726305405130[8] = 0; - out_1647302726305405130[9] = 0; - out_1647302726305405130[10] = 0; - out_1647302726305405130[11] = 0; - out_1647302726305405130[12] = 0; - out_1647302726305405130[13] = 0; - out_1647302726305405130[14] = 0; - out_1647302726305405130[15] = 0; - out_1647302726305405130[16] = 0; - out_1647302726305405130[17] = 0; - out_1647302726305405130[18] = 0; - out_1647302726305405130[19] = 0; - out_1647302726305405130[20] = 0; - out_1647302726305405130[21] = 0; - out_1647302726305405130[22] = 1; - out_1647302726305405130[23] = 0; - out_1647302726305405130[24] = 0; - out_1647302726305405130[25] = 0; - out_1647302726305405130[26] = 0; - out_1647302726305405130[27] = 0; - out_1647302726305405130[28] = 0; - out_1647302726305405130[29] = 0; - out_1647302726305405130[30] = 0; - out_1647302726305405130[31] = 0; - out_1647302726305405130[32] = 0; - out_1647302726305405130[33] = 0; - out_1647302726305405130[34] = 0; - out_1647302726305405130[35] = 0; - out_1647302726305405130[36] = 0; - out_1647302726305405130[37] = 0; - out_1647302726305405130[38] = 0; - out_1647302726305405130[39] = 0; - out_1647302726305405130[40] = 0; - out_1647302726305405130[41] = 1; - out_1647302726305405130[42] = 0; - out_1647302726305405130[43] = 0; - out_1647302726305405130[44] = 0; - out_1647302726305405130[45] = 0; - out_1647302726305405130[46] = 0; - out_1647302726305405130[47] = 0; - out_1647302726305405130[48] = 0; - out_1647302726305405130[49] = 0; - out_1647302726305405130[50] = 0; - out_1647302726305405130[51] = 0; - out_1647302726305405130[52] = 0; - out_1647302726305405130[53] = 0; +void H_13(double *state, double *unused, double *out_317658251383818063) { + out_317658251383818063[0] = 0; + out_317658251383818063[1] = 0; + out_317658251383818063[2] = 0; + out_317658251383818063[3] = 1; + out_317658251383818063[4] = 0; + out_317658251383818063[5] = 0; + out_317658251383818063[6] = 0; + out_317658251383818063[7] = 0; + out_317658251383818063[8] = 0; + out_317658251383818063[9] = 0; + out_317658251383818063[10] = 0; + out_317658251383818063[11] = 0; + out_317658251383818063[12] = 0; + out_317658251383818063[13] = 0; + out_317658251383818063[14] = 0; + out_317658251383818063[15] = 0; + out_317658251383818063[16] = 0; + out_317658251383818063[17] = 0; + out_317658251383818063[18] = 0; + out_317658251383818063[19] = 0; + out_317658251383818063[20] = 0; + out_317658251383818063[21] = 0; + out_317658251383818063[22] = 1; + out_317658251383818063[23] = 0; + out_317658251383818063[24] = 0; + out_317658251383818063[25] = 0; + out_317658251383818063[26] = 0; + out_317658251383818063[27] = 0; + out_317658251383818063[28] = 0; + out_317658251383818063[29] = 0; + out_317658251383818063[30] = 0; + out_317658251383818063[31] = 0; + out_317658251383818063[32] = 0; + out_317658251383818063[33] = 0; + out_317658251383818063[34] = 0; + out_317658251383818063[35] = 0; + out_317658251383818063[36] = 0; + out_317658251383818063[37] = 0; + out_317658251383818063[38] = 0; + out_317658251383818063[39] = 0; + out_317658251383818063[40] = 0; + out_317658251383818063[41] = 1; + out_317658251383818063[42] = 0; + out_317658251383818063[43] = 0; + out_317658251383818063[44] = 0; + out_317658251383818063[45] = 0; + out_317658251383818063[46] = 0; + out_317658251383818063[47] = 0; + out_317658251383818063[48] = 0; + out_317658251383818063[49] = 0; + out_317658251383818063[50] = 0; + out_317658251383818063[51] = 0; + out_317658251383818063[52] = 0; + out_317658251383818063[53] = 0; } -void h_14(double *state, double *unused, double *out_507113954569858993) { - out_507113954569858993[0] = state[6]; - out_507113954569858993[1] = state[7]; - out_507113954569858993[2] = state[8]; +void h_14(double *state, double *unused, double *out_7414566035535505034) { + out_7414566035535505034[0] = state[6]; + out_7414566035535505034[1] = state[7]; + out_7414566035535505034[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2398269757312556858) { - out_2398269757312556858[0] = 0; - out_2398269757312556858[1] = 0; - out_2398269757312556858[2] = 0; - out_2398269757312556858[3] = 0; - out_2398269757312556858[4] = 0; - out_2398269757312556858[5] = 0; - out_2398269757312556858[6] = 1; - out_2398269757312556858[7] = 0; - out_2398269757312556858[8] = 0; - out_2398269757312556858[9] = 0; - out_2398269757312556858[10] = 0; - out_2398269757312556858[11] = 0; - out_2398269757312556858[12] = 0; - out_2398269757312556858[13] = 0; - out_2398269757312556858[14] = 0; - out_2398269757312556858[15] = 0; - out_2398269757312556858[16] = 0; - out_2398269757312556858[17] = 0; - out_2398269757312556858[18] = 0; - out_2398269757312556858[19] = 0; - out_2398269757312556858[20] = 0; - out_2398269757312556858[21] = 0; - out_2398269757312556858[22] = 0; - out_2398269757312556858[23] = 0; - out_2398269757312556858[24] = 0; - out_2398269757312556858[25] = 1; - out_2398269757312556858[26] = 0; - out_2398269757312556858[27] = 0; - out_2398269757312556858[28] = 0; - out_2398269757312556858[29] = 0; - out_2398269757312556858[30] = 0; - out_2398269757312556858[31] = 0; - out_2398269757312556858[32] = 0; - out_2398269757312556858[33] = 0; - out_2398269757312556858[34] = 0; - out_2398269757312556858[35] = 0; - out_2398269757312556858[36] = 0; - out_2398269757312556858[37] = 0; - out_2398269757312556858[38] = 0; - out_2398269757312556858[39] = 0; - out_2398269757312556858[40] = 0; - out_2398269757312556858[41] = 0; - out_2398269757312556858[42] = 0; - out_2398269757312556858[43] = 0; - out_2398269757312556858[44] = 1; - out_2398269757312556858[45] = 0; - out_2398269757312556858[46] = 0; - out_2398269757312556858[47] = 0; - out_2398269757312556858[48] = 0; - out_2398269757312556858[49] = 0; - out_2398269757312556858[50] = 0; - out_2398269757312556858[51] = 0; - out_2398269757312556858[52] = 0; - out_2398269757312556858[53] = 0; +void H_14(double *state, double *unused, double *out_6612720509011523160) { + out_6612720509011523160[0] = 0; + out_6612720509011523160[1] = 0; + out_6612720509011523160[2] = 0; + out_6612720509011523160[3] = 0; + out_6612720509011523160[4] = 0; + out_6612720509011523160[5] = 0; + out_6612720509011523160[6] = 1; + out_6612720509011523160[7] = 0; + out_6612720509011523160[8] = 0; + out_6612720509011523160[9] = 0; + out_6612720509011523160[10] = 0; + out_6612720509011523160[11] = 0; + out_6612720509011523160[12] = 0; + out_6612720509011523160[13] = 0; + out_6612720509011523160[14] = 0; + out_6612720509011523160[15] = 0; + out_6612720509011523160[16] = 0; + out_6612720509011523160[17] = 0; + out_6612720509011523160[18] = 0; + out_6612720509011523160[19] = 0; + out_6612720509011523160[20] = 0; + out_6612720509011523160[21] = 0; + out_6612720509011523160[22] = 0; + out_6612720509011523160[23] = 0; + out_6612720509011523160[24] = 0; + out_6612720509011523160[25] = 1; + out_6612720509011523160[26] = 0; + out_6612720509011523160[27] = 0; + out_6612720509011523160[28] = 0; + out_6612720509011523160[29] = 0; + out_6612720509011523160[30] = 0; + out_6612720509011523160[31] = 0; + out_6612720509011523160[32] = 0; + out_6612720509011523160[33] = 0; + out_6612720509011523160[34] = 0; + out_6612720509011523160[35] = 0; + out_6612720509011523160[36] = 0; + out_6612720509011523160[37] = 0; + out_6612720509011523160[38] = 0; + out_6612720509011523160[39] = 0; + out_6612720509011523160[40] = 0; + out_6612720509011523160[41] = 0; + out_6612720509011523160[42] = 0; + out_6612720509011523160[43] = 0; + out_6612720509011523160[44] = 1; + out_6612720509011523160[45] = 0; + out_6612720509011523160[46] = 0; + out_6612720509011523160[47] = 0; + out_6612720509011523160[48] = 0; + out_6612720509011523160[49] = 0; + out_6612720509011523160[50] = 0; + out_6612720509011523160[51] = 0; + out_6612720509011523160[52] = 0; + out_6612720509011523160[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_8714848832990626554) { - err_fun(nom_x, delta_x, out_8714848832990626554); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7431505958311813382) { + err_fun(nom_x, delta_x, out_7431505958311813382); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5047671582975253903) { - inv_err_fun(nom_x, true_x, out_5047671582975253903); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431) { + inv_err_fun(nom_x, true_x, out_8551627000098797431); } -void pose_H_mod_fun(double *state, double *out_1709250979764021582) { - H_mod_fun(state, out_1709250979764021582); +void pose_H_mod_fun(double *state, double *out_4284093078770863471) { + H_mod_fun(state, out_4284093078770863471); } -void pose_f_fun(double *state, double dt, double *out_1316099113648689196) { - f_fun(state, dt, out_1316099113648689196); +void pose_f_fun(double *state, double dt, double *out_6442140298881834415) { + f_fun(state, dt, out_6442140298881834415); } -void pose_F_fun(double *state, double dt, double *out_4732408561172474784) { - F_fun(state, dt, out_4732408561172474784); +void pose_F_fun(double *state, double dt, double *out_3934539972733810872) { + F_fun(state, dt, out_3934539972733810872); } -void pose_h_4(double *state, double *unused, double *out_6918932125970712407) { - h_4(state, unused, out_6918932125970712407); +void pose_h_4(double *state, double *unused, double *out_9108176221739377223) { + h_4(state, unused, out_9108176221739377223); } -void pose_H_4(double *state, double *unused, double *out_1564971099026927671) { - H_4(state, unused, out_1564971099026927671); +void pose_H_4(double *state, double *unused, double *out_3529932076716150864) { + H_4(state, unused, out_3529932076716150864); } -void pose_h_10(double *state, double *unused, double *out_3027582300414544631) { - h_10(state, unused, out_3027582300414544631); +void pose_h_10(double *state, double *unused, double *out_7468804800035159097) { + h_10(state, unused, out_7468804800035159097); } -void pose_H_10(double *state, double *unused, double *out_3487027415066723561) { - H_10(state, unused, out_3487027415066723561); +void pose_H_10(double *state, double *unused, double *out_3178743347505224989) { + H_10(state, unused, out_3178743347505224989); } -void pose_h_13(double *state, double *unused, double *out_4493446518496679699) { - h_13(state, unused, out_4493446518496679699); +void pose_h_13(double *state, double *unused, double *out_2582510020496882256) { + h_13(state, unused, out_2582510020496882256); } -void pose_H_13(double *state, double *unused, double *out_1647302726305405130) { - H_13(state, unused, out_1647302726305405130); +void pose_H_13(double *state, double *unused, double *out_317658251383818063) { + H_13(state, unused, out_317658251383818063); } -void pose_h_14(double *state, double *unused, double *out_507113954569858993) { - h_14(state, unused, out_507113954569858993); +void pose_h_14(double *state, double *unused, double *out_7414566035535505034) { + h_14(state, unused, out_7414566035535505034); } -void pose_H_14(double *state, double *unused, double *out_2398269757312556858) { - H_14(state, unused, out_2398269757312556858); +void pose_H_14(double *state, double *unused, double *out_6612720509011523160) { + H_14(state, unused, out_6612720509011523160); } 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 ce328b55d..0f64b2bd7 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_8714848832990626554); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5047671582975253903); -void pose_H_mod_fun(double *state, double *out_1709250979764021582); -void pose_f_fun(double *state, double dt, double *out_1316099113648689196); -void pose_F_fun(double *state, double dt, double *out_4732408561172474784); -void pose_h_4(double *state, double *unused, double *out_6918932125970712407); -void pose_H_4(double *state, double *unused, double *out_1564971099026927671); -void pose_h_10(double *state, double *unused, double *out_3027582300414544631); -void pose_H_10(double *state, double *unused, double *out_3487027415066723561); -void pose_h_13(double *state, double *unused, double *out_4493446518496679699); -void pose_H_13(double *state, double *unused, double *out_1647302726305405130); -void pose_h_14(double *state, double *unused, double *out_507113954569858993); -void pose_H_14(double *state, double *unused, double *out_2398269757312556858); +void pose_err_fun(double *nom_x, double *delta_x, double *out_7431505958311813382); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8551627000098797431); +void pose_H_mod_fun(double *state, double *out_4284093078770863471); +void pose_f_fun(double *state, double dt, double *out_6442140298881834415); +void pose_F_fun(double *state, double dt, double *out_3934539972733810872); +void pose_h_4(double *state, double *unused, double *out_9108176221739377223); +void pose_H_4(double *state, double *unused, double *out_3529932076716150864); +void pose_h_10(double *state, double *unused, double *out_7468804800035159097); +void pose_H_10(double *state, double *unused, double *out_3178743347505224989); +void pose_h_13(double *state, double *unused, double *out_2582510020496882256); +void pose_H_13(double *state, double *unused, double *out_317658251383818063); +void pose_h_14(double *state, double *unused, double *out_7414566035535505034); +void pose_H_14(double *state, double *unused, double *out_6612720509011523160); 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 615e28623..23a1a95f2 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 055be1596..1f17edd2f 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index 4ef12ed80..31617c51b 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index cc23e295e..2623e1e5e 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 13cd0f45c..bcfa5d19e 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ