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802927083..17b832cc8 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/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index e100ee298..e75e038c3 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_3441370810429516799) { - out_3441370810429516799[0] = delta_x[0] + nom_x[0]; - out_3441370810429516799[1] = delta_x[1] + nom_x[1]; - out_3441370810429516799[2] = delta_x[2] + nom_x[2]; - out_3441370810429516799[3] = delta_x[3] + nom_x[3]; - out_3441370810429516799[4] = delta_x[4] + nom_x[4]; - out_3441370810429516799[5] = delta_x[5] + nom_x[5]; - out_3441370810429516799[6] = delta_x[6] + nom_x[6]; - out_3441370810429516799[7] = delta_x[7] + nom_x[7]; - out_3441370810429516799[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_5328892797193692082) { + out_5328892797193692082[0] = delta_x[0] + nom_x[0]; + out_5328892797193692082[1] = delta_x[1] + nom_x[1]; + out_5328892797193692082[2] = delta_x[2] + nom_x[2]; + out_5328892797193692082[3] = delta_x[3] + nom_x[3]; + out_5328892797193692082[4] = delta_x[4] + nom_x[4]; + out_5328892797193692082[5] = delta_x[5] + nom_x[5]; + out_5328892797193692082[6] = delta_x[6] + nom_x[6]; + out_5328892797193692082[7] = delta_x[7] + nom_x[7]; + out_5328892797193692082[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_1747596067924150076) { - out_1747596067924150076[0] = -nom_x[0] + true_x[0]; - out_1747596067924150076[1] = -nom_x[1] + true_x[1]; - out_1747596067924150076[2] = -nom_x[2] + true_x[2]; - out_1747596067924150076[3] = -nom_x[3] + true_x[3]; - out_1747596067924150076[4] = -nom_x[4] + true_x[4]; - out_1747596067924150076[5] = -nom_x[5] + true_x[5]; - out_1747596067924150076[6] = -nom_x[6] + true_x[6]; - out_1747596067924150076[7] = -nom_x[7] + true_x[7]; - out_1747596067924150076[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) { + out_6664197118630309465[0] = -nom_x[0] + true_x[0]; + out_6664197118630309465[1] = -nom_x[1] + true_x[1]; + out_6664197118630309465[2] = -nom_x[2] + true_x[2]; + out_6664197118630309465[3] = -nom_x[3] + true_x[3]; + out_6664197118630309465[4] = -nom_x[4] + true_x[4]; + out_6664197118630309465[5] = -nom_x[5] + true_x[5]; + out_6664197118630309465[6] = -nom_x[6] + true_x[6]; + out_6664197118630309465[7] = -nom_x[7] + true_x[7]; + out_6664197118630309465[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5211544030531521198) { - out_5211544030531521198[0] = 1.0; - out_5211544030531521198[1] = 0.0; - out_5211544030531521198[2] = 0.0; - out_5211544030531521198[3] = 0.0; - out_5211544030531521198[4] = 0.0; - out_5211544030531521198[5] = 0.0; - out_5211544030531521198[6] = 0.0; - out_5211544030531521198[7] = 0.0; - out_5211544030531521198[8] = 0.0; - out_5211544030531521198[9] = 0.0; - out_5211544030531521198[10] = 1.0; - out_5211544030531521198[11] = 0.0; - out_5211544030531521198[12] = 0.0; - out_5211544030531521198[13] = 0.0; - out_5211544030531521198[14] = 0.0; - out_5211544030531521198[15] = 0.0; - out_5211544030531521198[16] = 0.0; - out_5211544030531521198[17] = 0.0; - out_5211544030531521198[18] = 0.0; - out_5211544030531521198[19] = 0.0; - out_5211544030531521198[20] = 1.0; - out_5211544030531521198[21] = 0.0; - out_5211544030531521198[22] = 0.0; - out_5211544030531521198[23] = 0.0; - out_5211544030531521198[24] = 0.0; - out_5211544030531521198[25] = 0.0; - out_5211544030531521198[26] = 0.0; - out_5211544030531521198[27] = 0.0; - out_5211544030531521198[28] = 0.0; - out_5211544030531521198[29] = 0.0; - out_5211544030531521198[30] = 1.0; - out_5211544030531521198[31] = 0.0; - out_5211544030531521198[32] = 0.0; - out_5211544030531521198[33] = 0.0; - out_5211544030531521198[34] = 0.0; - out_5211544030531521198[35] = 0.0; - out_5211544030531521198[36] = 0.0; - out_5211544030531521198[37] = 0.0; - out_5211544030531521198[38] = 0.0; - out_5211544030531521198[39] = 0.0; - out_5211544030531521198[40] = 1.0; - out_5211544030531521198[41] = 0.0; - out_5211544030531521198[42] = 0.0; - out_5211544030531521198[43] = 0.0; - out_5211544030531521198[44] = 0.0; - out_5211544030531521198[45] = 0.0; - out_5211544030531521198[46] = 0.0; - out_5211544030531521198[47] = 0.0; - out_5211544030531521198[48] = 0.0; - out_5211544030531521198[49] = 0.0; - out_5211544030531521198[50] = 1.0; - out_5211544030531521198[51] = 0.0; - out_5211544030531521198[52] = 0.0; - out_5211544030531521198[53] = 0.0; - out_5211544030531521198[54] = 0.0; - out_5211544030531521198[55] = 0.0; - out_5211544030531521198[56] = 0.0; - out_5211544030531521198[57] = 0.0; - out_5211544030531521198[58] = 0.0; - out_5211544030531521198[59] = 0.0; - out_5211544030531521198[60] = 1.0; - out_5211544030531521198[61] = 0.0; - out_5211544030531521198[62] = 0.0; - out_5211544030531521198[63] = 0.0; - out_5211544030531521198[64] = 0.0; - out_5211544030531521198[65] = 0.0; - out_5211544030531521198[66] = 0.0; - out_5211544030531521198[67] = 0.0; - out_5211544030531521198[68] = 0.0; - out_5211544030531521198[69] = 0.0; - out_5211544030531521198[70] = 1.0; - out_5211544030531521198[71] = 0.0; - out_5211544030531521198[72] = 0.0; - out_5211544030531521198[73] = 0.0; - out_5211544030531521198[74] = 0.0; - out_5211544030531521198[75] = 0.0; - out_5211544030531521198[76] = 0.0; - out_5211544030531521198[77] = 0.0; - out_5211544030531521198[78] = 0.0; - out_5211544030531521198[79] = 0.0; - out_5211544030531521198[80] = 1.0; +void H_mod_fun(double *state, double *out_7049792320674666550) { + out_7049792320674666550[0] = 1.0; + out_7049792320674666550[1] = 0.0; + out_7049792320674666550[2] = 0.0; + out_7049792320674666550[3] = 0.0; + out_7049792320674666550[4] = 0.0; + out_7049792320674666550[5] = 0.0; + out_7049792320674666550[6] = 0.0; + out_7049792320674666550[7] = 0.0; + out_7049792320674666550[8] = 0.0; + out_7049792320674666550[9] = 0.0; + out_7049792320674666550[10] = 1.0; + out_7049792320674666550[11] = 0.0; + out_7049792320674666550[12] = 0.0; + out_7049792320674666550[13] = 0.0; + out_7049792320674666550[14] = 0.0; + out_7049792320674666550[15] = 0.0; + out_7049792320674666550[16] = 0.0; + out_7049792320674666550[17] = 0.0; + out_7049792320674666550[18] = 0.0; + out_7049792320674666550[19] = 0.0; + out_7049792320674666550[20] = 1.0; + out_7049792320674666550[21] = 0.0; + out_7049792320674666550[22] = 0.0; + out_7049792320674666550[23] = 0.0; + out_7049792320674666550[24] = 0.0; + out_7049792320674666550[25] = 0.0; + out_7049792320674666550[26] = 0.0; + out_7049792320674666550[27] = 0.0; + out_7049792320674666550[28] = 0.0; + out_7049792320674666550[29] = 0.0; + out_7049792320674666550[30] = 1.0; + out_7049792320674666550[31] = 0.0; + out_7049792320674666550[32] = 0.0; + out_7049792320674666550[33] = 0.0; + out_7049792320674666550[34] = 0.0; + out_7049792320674666550[35] = 0.0; + out_7049792320674666550[36] = 0.0; + out_7049792320674666550[37] = 0.0; + out_7049792320674666550[38] = 0.0; + out_7049792320674666550[39] = 0.0; + out_7049792320674666550[40] = 1.0; + out_7049792320674666550[41] = 0.0; + out_7049792320674666550[42] = 0.0; + out_7049792320674666550[43] = 0.0; + out_7049792320674666550[44] = 0.0; + out_7049792320674666550[45] = 0.0; + out_7049792320674666550[46] = 0.0; + out_7049792320674666550[47] = 0.0; + out_7049792320674666550[48] = 0.0; + out_7049792320674666550[49] = 0.0; + out_7049792320674666550[50] = 1.0; + out_7049792320674666550[51] = 0.0; + out_7049792320674666550[52] = 0.0; + out_7049792320674666550[53] = 0.0; + out_7049792320674666550[54] = 0.0; + out_7049792320674666550[55] = 0.0; + out_7049792320674666550[56] = 0.0; + out_7049792320674666550[57] = 0.0; + out_7049792320674666550[58] = 0.0; + out_7049792320674666550[59] = 0.0; + out_7049792320674666550[60] = 1.0; + out_7049792320674666550[61] = 0.0; + out_7049792320674666550[62] = 0.0; + out_7049792320674666550[63] = 0.0; + out_7049792320674666550[64] = 0.0; + out_7049792320674666550[65] = 0.0; + out_7049792320674666550[66] = 0.0; + out_7049792320674666550[67] = 0.0; + out_7049792320674666550[68] = 0.0; + out_7049792320674666550[69] = 0.0; + out_7049792320674666550[70] = 1.0; + out_7049792320674666550[71] = 0.0; + out_7049792320674666550[72] = 0.0; + out_7049792320674666550[73] = 0.0; + out_7049792320674666550[74] = 0.0; + out_7049792320674666550[75] = 0.0; + out_7049792320674666550[76] = 0.0; + out_7049792320674666550[77] = 0.0; + out_7049792320674666550[78] = 0.0; + out_7049792320674666550[79] = 0.0; + out_7049792320674666550[80] = 1.0; } -void f_fun(double *state, double dt, double *out_3273966994803944680) { - out_3273966994803944680[0] = state[0]; - out_3273966994803944680[1] = state[1]; - out_3273966994803944680[2] = state[2]; - out_3273966994803944680[3] = state[3]; - out_3273966994803944680[4] = state[4]; - out_3273966994803944680[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_3273966994803944680[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_3273966994803944680[7] = state[7]; - out_3273966994803944680[8] = state[8]; +void f_fun(double *state, double dt, double *out_8058289693715916474) { + out_8058289693715916474[0] = state[0]; + out_8058289693715916474[1] = state[1]; + out_8058289693715916474[2] = state[2]; + out_8058289693715916474[3] = state[3]; + out_8058289693715916474[4] = state[4]; + out_8058289693715916474[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_8058289693715916474[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_8058289693715916474[7] = state[7]; + out_8058289693715916474[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3584498956988590310) { - out_3584498956988590310[0] = 1; - out_3584498956988590310[1] = 0; - out_3584498956988590310[2] = 0; - out_3584498956988590310[3] = 0; - out_3584498956988590310[4] = 0; - out_3584498956988590310[5] = 0; - out_3584498956988590310[6] = 0; - out_3584498956988590310[7] = 0; - out_3584498956988590310[8] = 0; - out_3584498956988590310[9] = 0; - out_3584498956988590310[10] = 1; - out_3584498956988590310[11] = 0; - out_3584498956988590310[12] = 0; - out_3584498956988590310[13] = 0; - out_3584498956988590310[14] = 0; - out_3584498956988590310[15] = 0; - out_3584498956988590310[16] = 0; - out_3584498956988590310[17] = 0; - out_3584498956988590310[18] = 0; - out_3584498956988590310[19] = 0; - out_3584498956988590310[20] = 1; - out_3584498956988590310[21] = 0; - out_3584498956988590310[22] = 0; - out_3584498956988590310[23] = 0; - out_3584498956988590310[24] = 0; - out_3584498956988590310[25] = 0; - out_3584498956988590310[26] = 0; - out_3584498956988590310[27] = 0; - out_3584498956988590310[28] = 0; - out_3584498956988590310[29] = 0; - out_3584498956988590310[30] = 1; - out_3584498956988590310[31] = 0; - out_3584498956988590310[32] = 0; - out_3584498956988590310[33] = 0; - out_3584498956988590310[34] = 0; - out_3584498956988590310[35] = 0; - out_3584498956988590310[36] = 0; - out_3584498956988590310[37] = 0; - out_3584498956988590310[38] = 0; - out_3584498956988590310[39] = 0; - out_3584498956988590310[40] = 1; - out_3584498956988590310[41] = 0; - out_3584498956988590310[42] = 0; - out_3584498956988590310[43] = 0; - out_3584498956988590310[44] = 0; - out_3584498956988590310[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_3584498956988590310[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3584498956988590310[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3584498956988590310[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3584498956988590310[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_3584498956988590310[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3584498956988590310[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3584498956988590310[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3584498956988590310[53] = -9.8100000000000005*dt; - out_3584498956988590310[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_3584498956988590310[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3584498956988590310[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3584498956988590310[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3584498956988590310[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_3584498956988590310[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3584498956988590310[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_3584498956988590310[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3584498956988590310[62] = 0; - out_3584498956988590310[63] = 0; - out_3584498956988590310[64] = 0; - out_3584498956988590310[65] = 0; - out_3584498956988590310[66] = 0; - out_3584498956988590310[67] = 0; - out_3584498956988590310[68] = 0; - out_3584498956988590310[69] = 0; - out_3584498956988590310[70] = 1; - out_3584498956988590310[71] = 0; - out_3584498956988590310[72] = 0; - out_3584498956988590310[73] = 0; - out_3584498956988590310[74] = 0; - out_3584498956988590310[75] = 0; - out_3584498956988590310[76] = 0; - out_3584498956988590310[77] = 0; - out_3584498956988590310[78] = 0; - out_3584498956988590310[79] = 0; - out_3584498956988590310[80] = 1; +void F_fun(double *state, double dt, double *out_6834456908135559848) { + out_6834456908135559848[0] = 1; + out_6834456908135559848[1] = 0; + out_6834456908135559848[2] = 0; + out_6834456908135559848[3] = 0; + out_6834456908135559848[4] = 0; + out_6834456908135559848[5] = 0; + out_6834456908135559848[6] = 0; + out_6834456908135559848[7] = 0; + out_6834456908135559848[8] = 0; + out_6834456908135559848[9] = 0; + out_6834456908135559848[10] = 1; + out_6834456908135559848[11] = 0; + out_6834456908135559848[12] = 0; + out_6834456908135559848[13] = 0; + out_6834456908135559848[14] = 0; + out_6834456908135559848[15] = 0; + out_6834456908135559848[16] = 0; + out_6834456908135559848[17] = 0; + out_6834456908135559848[18] = 0; + out_6834456908135559848[19] = 0; + out_6834456908135559848[20] = 1; + out_6834456908135559848[21] = 0; + out_6834456908135559848[22] = 0; + out_6834456908135559848[23] = 0; + out_6834456908135559848[24] = 0; + out_6834456908135559848[25] = 0; + out_6834456908135559848[26] = 0; + out_6834456908135559848[27] = 0; + out_6834456908135559848[28] = 0; + out_6834456908135559848[29] = 0; + out_6834456908135559848[30] = 1; + out_6834456908135559848[31] = 0; + out_6834456908135559848[32] = 0; + out_6834456908135559848[33] = 0; + out_6834456908135559848[34] = 0; + out_6834456908135559848[35] = 0; + out_6834456908135559848[36] = 0; + out_6834456908135559848[37] = 0; + out_6834456908135559848[38] = 0; + out_6834456908135559848[39] = 0; + out_6834456908135559848[40] = 1; + out_6834456908135559848[41] = 0; + out_6834456908135559848[42] = 0; + out_6834456908135559848[43] = 0; + out_6834456908135559848[44] = 0; + out_6834456908135559848[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_6834456908135559848[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6834456908135559848[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6834456908135559848[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6834456908135559848[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_6834456908135559848[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6834456908135559848[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6834456908135559848[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6834456908135559848[53] = -9.8100000000000005*dt; + out_6834456908135559848[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_6834456908135559848[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6834456908135559848[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6834456908135559848[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6834456908135559848[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_6834456908135559848[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6834456908135559848[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_6834456908135559848[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6834456908135559848[62] = 0; + out_6834456908135559848[63] = 0; + out_6834456908135559848[64] = 0; + out_6834456908135559848[65] = 0; + out_6834456908135559848[66] = 0; + out_6834456908135559848[67] = 0; + out_6834456908135559848[68] = 0; + out_6834456908135559848[69] = 0; + out_6834456908135559848[70] = 1; + out_6834456908135559848[71] = 0; + out_6834456908135559848[72] = 0; + out_6834456908135559848[73] = 0; + out_6834456908135559848[74] = 0; + out_6834456908135559848[75] = 0; + out_6834456908135559848[76] = 0; + out_6834456908135559848[77] = 0; + out_6834456908135559848[78] = 0; + out_6834456908135559848[79] = 0; + out_6834456908135559848[80] = 1; } -void h_25(double *state, double *unused, double *out_1500665077942884314) { - out_1500665077942884314[0] = state[6]; +void h_25(double *state, double *unused, double *out_3817993858643920850) { + out_3817993858643920850[0] = state[6]; } -void H_25(double *state, double *unused, double *out_8734592669176886346) { - out_8734592669176886346[0] = 0; - out_8734592669176886346[1] = 0; - out_8734592669176886346[2] = 0; - out_8734592669176886346[3] = 0; - out_8734592669176886346[4] = 0; - out_8734592669176886346[5] = 0; - out_8734592669176886346[6] = 1; - out_8734592669176886346[7] = 0; - out_8734592669176886346[8] = 0; +void H_25(double *state, double *unused, double *out_2203763527122647829) { + out_2203763527122647829[0] = 0; + out_2203763527122647829[1] = 0; + out_2203763527122647829[2] = 0; + out_2203763527122647829[3] = 0; + out_2203763527122647829[4] = 0; + out_2203763527122647829[5] = 0; + out_2203763527122647829[6] = 1; + out_2203763527122647829[7] = 0; + out_2203763527122647829[8] = 0; } -void h_24(double *state, double *unused, double *out_8867867868219610133) { - out_8867867868219610133[0] = state[4]; - out_8867867868219610133[1] = state[5]; +void h_24(double *state, double *unused, double *out_589890583681194954) { + out_589890583681194954[0] = state[4]; + out_589890583681194954[1] = state[5]; } -void H_24(double *state, double *unused, double *out_5176667070374563210) { - out_5176667070374563210[0] = 0; - out_5176667070374563210[1] = 0; - out_5176667070374563210[2] = 0; - out_5176667070374563210[3] = 0; - out_5176667070374563210[4] = 1; - out_5176667070374563210[5] = 0; - out_5176667070374563210[6] = 0; - out_5176667070374563210[7] = 0; - out_5176667070374563210[8] = 0; - out_5176667070374563210[9] = 0; - out_5176667070374563210[10] = 0; - out_5176667070374563210[11] = 0; - out_5176667070374563210[12] = 0; - out_5176667070374563210[13] = 0; - out_5176667070374563210[14] = 1; - out_5176667070374563210[15] = 0; - out_5176667070374563210[16] = 0; - out_5176667070374563210[17] = 0; +void H_24(double *state, double *unused, double *out_31113928117148263) { + out_31113928117148263[0] = 0; + out_31113928117148263[1] = 0; + out_31113928117148263[2] = 0; + out_31113928117148263[3] = 0; + out_31113928117148263[4] = 1; + out_31113928117148263[5] = 0; + out_31113928117148263[6] = 0; + out_31113928117148263[7] = 0; + out_31113928117148263[8] = 0; + out_31113928117148263[9] = 0; + out_31113928117148263[10] = 0; + out_31113928117148263[11] = 0; + out_31113928117148263[12] = 0; + out_31113928117148263[13] = 0; + out_31113928117148263[14] = 1; + out_31113928117148263[15] = 0; + out_31113928117148263[16] = 0; + out_31113928117148263[17] = 0; } -void h_30(double *state, double *unused, double *out_6184127634480483313) { - out_6184127634480483313[0] = state[4]; +void h_30(double *state, double *unused, double *out_855557586624953167) { + out_855557586624953167[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1817902327685269591) { - out_1817902327685269591[0] = 0; - out_1817902327685269591[1] = 0; - out_1817902327685269591[2] = 0; - out_1817902327685269591[3] = 0; - out_1817902327685269591[4] = 1; - out_1817902327685269591[5] = 0; - out_1817902327685269591[6] = 0; - out_1817902327685269591[7] = 0; - out_1817902327685269591[8] = 0; +void H_30(double *state, double *unused, double *out_4722096485629896456) { + out_4722096485629896456[0] = 0; + out_4722096485629896456[1] = 0; + out_4722096485629896456[2] = 0; + out_4722096485629896456[3] = 0; + out_4722096485629896456[4] = 1; + out_4722096485629896456[5] = 0; + out_4722096485629896456[6] = 0; + out_4722096485629896456[7] = 0; + out_4722096485629896456[8] = 0; } -void h_26(double *state, double *unused, double *out_3579722313671785662) { - out_3579722313671785662[0] = state[7]; +void h_26(double *state, double *unused, double *out_3459962907433650818) { + out_3459962907433650818[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5970648085658609046) { - out_5970648085658609046[0] = 0; - out_5970648085658609046[1] = 0; - out_5970648085658609046[2] = 0; - out_5970648085658609046[3] = 0; - out_5970648085658609046[4] = 0; - out_5970648085658609046[5] = 0; - out_5970648085658609046[6] = 0; - out_5970648085658609046[7] = 1; - out_5970648085658609046[8] = 0; +void H_26(double *state, double *unused, double *out_1537739791751408395) { + out_1537739791751408395[0] = 0; + out_1537739791751408395[1] = 0; + out_1537739791751408395[2] = 0; + out_1537739791751408395[3] = 0; + out_1537739791751408395[4] = 0; + out_1537739791751408395[5] = 0; + out_1537739791751408395[6] = 0; + out_1537739791751408395[7] = 1; + out_1537739791751408395[8] = 0; } -void h_27(double *state, double *unused, double *out_4755159644016162940) { - out_4755159644016162940[0] = state[3]; +void h_27(double *state, double *unused, double *out_2284525577089273540) { + out_2284525577089273540[0] = state[3]; } -void H_27(double *state, double *unused, double *out_3992665639485694502) { - out_3992665639485694502[0] = 0; - out_3992665639485694502[1] = 0; - out_3992665639485694502[2] = 0; - out_3992665639485694502[3] = 1; - out_3992665639485694502[4] = 0; - out_3992665639485694502[5] = 0; - out_3992665639485694502[6] = 0; - out_3992665639485694502[7] = 0; - out_3992665639485694502[8] = 0; +void H_27(double *state, double *unused, double *out_6945690556813839673) { + out_6945690556813839673[0] = 0; + out_6945690556813839673[1] = 0; + out_6945690556813839673[2] = 0; + out_6945690556813839673[3] = 1; + out_6945690556813839673[4] = 0; + out_6945690556813839673[5] = 0; + out_6945690556813839673[6] = 0; + out_6945690556813839673[7] = 0; + out_6945690556813839673[8] = 0; } -void h_29(double *state, double *unused, double *out_5051706952974846792) { - out_5051706952974846792[0] = state[1]; +void h_29(double *state, double *unused, double *out_1458873471301430684) { + out_1458873471301430684[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1307670983370877407) { - out_1307670983370877407[0] = 0; - out_1307670983370877407[1] = 1; - out_1307670983370877407[2] = 0; - out_1307670983370877407[3] = 0; - out_1307670983370877407[4] = 0; - out_1307670983370877407[5] = 0; - out_1307670983370877407[6] = 0; - out_1307670983370877407[7] = 0; - out_1307670983370877407[8] = 0; +void H_29(double *state, double *unused, double *out_5232327829944288640) { + out_5232327829944288640[0] = 0; + out_5232327829944288640[1] = 1; + out_5232327829944288640[2] = 0; + out_5232327829944288640[3] = 0; + out_5232327829944288640[4] = 0; + out_5232327829944288640[5] = 0; + out_5232327829944288640[6] = 0; + out_5232327829944288640[7] = 0; + out_5232327829944288640[8] = 0; } -void h_28(double *state, double *unused, double *out_2479630826403110806) { - out_2479630826403110806[0] = state[0]; +void h_28(double *state, double *unused, double *out_7286198844750119185) { + out_7286198844750119185[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6390070000440407981) { - out_6390070000440407981[0] = 1; - out_6390070000440407981[1] = 0; - out_6390070000440407981[2] = 0; - out_6390070000440407981[3] = 0; - out_6390070000440407981[4] = 0; - out_6390070000440407981[5] = 0; - out_6390070000440407981[6] = 0; - out_6390070000440407981[7] = 0; - out_6390070000440407981[8] = 0; +void H_28(double *state, double *unused, double *out_149928812874758066) { + out_149928812874758066[0] = 1; + out_149928812874758066[1] = 0; + out_149928812874758066[2] = 0; + out_149928812874758066[3] = 0; + out_149928812874758066[4] = 0; + out_149928812874758066[5] = 0; + out_149928812874758066[6] = 0; + out_149928812874758066[7] = 0; + out_149928812874758066[8] = 0; } -void h_31(double *state, double *unused, double *out_2361018398485617338) { - out_2361018398485617338[0] = state[8]; +void h_31(double *state, double *unused, double *out_9220241001058989162) { + out_9220241001058989162[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8703946707299925918) { - out_8703946707299925918[0] = 0; - out_8703946707299925918[1] = 0; - out_8703946707299925918[2] = 0; - out_8703946707299925918[3] = 0; - out_8703946707299925918[4] = 0; - out_8703946707299925918[5] = 0; - out_8703946707299925918[6] = 0; - out_8703946707299925918[7] = 0; - out_8703946707299925918[8] = 1; +void H_31(double *state, double *unused, double *out_2163947893984759871) { + out_2163947893984759871[0] = 0; + out_2163947893984759871[1] = 0; + out_2163947893984759871[2] = 0; + out_2163947893984759871[3] = 0; + out_2163947893984759871[4] = 0; + out_2163947893984759871[5] = 0; + out_2163947893984759871[6] = 0; + out_2163947893984759871[7] = 0; + out_2163947893984759871[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_3441370810429516799) { - err_fun(nom_x, delta_x, out_3441370810429516799); +void car_err_fun(double *nom_x, double *delta_x, double *out_5328892797193692082) { + err_fun(nom_x, delta_x, out_5328892797193692082); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1747596067924150076) { - inv_err_fun(nom_x, true_x, out_1747596067924150076); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465) { + inv_err_fun(nom_x, true_x, out_6664197118630309465); } -void car_H_mod_fun(double *state, double *out_5211544030531521198) { - H_mod_fun(state, out_5211544030531521198); +void car_H_mod_fun(double *state, double *out_7049792320674666550) { + H_mod_fun(state, out_7049792320674666550); } -void car_f_fun(double *state, double dt, double *out_3273966994803944680) { - f_fun(state, dt, out_3273966994803944680); +void car_f_fun(double *state, double dt, double *out_8058289693715916474) { + f_fun(state, dt, out_8058289693715916474); } -void car_F_fun(double *state, double dt, double *out_3584498956988590310) { - F_fun(state, dt, out_3584498956988590310); +void car_F_fun(double *state, double dt, double *out_6834456908135559848) { + F_fun(state, dt, out_6834456908135559848); } -void car_h_25(double *state, double *unused, double *out_1500665077942884314) { - h_25(state, unused, out_1500665077942884314); +void car_h_25(double *state, double *unused, double *out_3817993858643920850) { + h_25(state, unused, out_3817993858643920850); } -void car_H_25(double *state, double *unused, double *out_8734592669176886346) { - H_25(state, unused, out_8734592669176886346); +void car_H_25(double *state, double *unused, double *out_2203763527122647829) { + H_25(state, unused, out_2203763527122647829); } -void car_h_24(double *state, double *unused, double *out_8867867868219610133) { - h_24(state, unused, out_8867867868219610133); +void car_h_24(double *state, double *unused, double *out_589890583681194954) { + h_24(state, unused, out_589890583681194954); } -void car_H_24(double *state, double *unused, double *out_5176667070374563210) { - H_24(state, unused, out_5176667070374563210); +void car_H_24(double *state, double *unused, double *out_31113928117148263) { + H_24(state, unused, out_31113928117148263); } -void car_h_30(double *state, double *unused, double *out_6184127634480483313) { - h_30(state, unused, out_6184127634480483313); +void car_h_30(double *state, double *unused, double *out_855557586624953167) { + h_30(state, unused, out_855557586624953167); } -void car_H_30(double *state, double *unused, double *out_1817902327685269591) { - H_30(state, unused, out_1817902327685269591); +void car_H_30(double *state, double *unused, double *out_4722096485629896456) { + H_30(state, unused, out_4722096485629896456); } -void car_h_26(double *state, double *unused, double *out_3579722313671785662) { - h_26(state, unused, out_3579722313671785662); +void car_h_26(double *state, double *unused, double *out_3459962907433650818) { + h_26(state, unused, out_3459962907433650818); } -void car_H_26(double *state, double *unused, double *out_5970648085658609046) { - H_26(state, unused, out_5970648085658609046); +void car_H_26(double *state, double *unused, double *out_1537739791751408395) { + H_26(state, unused, out_1537739791751408395); } -void car_h_27(double *state, double *unused, double *out_4755159644016162940) { - h_27(state, unused, out_4755159644016162940); +void car_h_27(double *state, double *unused, double *out_2284525577089273540) { + h_27(state, unused, out_2284525577089273540); } -void car_H_27(double *state, double *unused, double *out_3992665639485694502) { - H_27(state, unused, out_3992665639485694502); +void car_H_27(double *state, double *unused, double *out_6945690556813839673) { + H_27(state, unused, out_6945690556813839673); } -void car_h_29(double *state, double *unused, double *out_5051706952974846792) { - h_29(state, unused, out_5051706952974846792); +void car_h_29(double *state, double *unused, double *out_1458873471301430684) { + h_29(state, unused, out_1458873471301430684); } -void car_H_29(double *state, double *unused, double *out_1307670983370877407) { - H_29(state, unused, out_1307670983370877407); +void car_H_29(double *state, double *unused, double *out_5232327829944288640) { + H_29(state, unused, out_5232327829944288640); } -void car_h_28(double *state, double *unused, double *out_2479630826403110806) { - h_28(state, unused, out_2479630826403110806); +void car_h_28(double *state, double *unused, double *out_7286198844750119185) { + h_28(state, unused, out_7286198844750119185); } -void car_H_28(double *state, double *unused, double *out_6390070000440407981) { - H_28(state, unused, out_6390070000440407981); +void car_H_28(double *state, double *unused, double *out_149928812874758066) { + H_28(state, unused, out_149928812874758066); } -void car_h_31(double *state, double *unused, double *out_2361018398485617338) { - h_31(state, unused, out_2361018398485617338); +void car_h_31(double *state, double *unused, double *out_9220241001058989162) { + h_31(state, unused, out_9220241001058989162); } -void car_H_31(double *state, double *unused, double *out_8703946707299925918) { - H_31(state, unused, out_8703946707299925918); +void car_H_31(double *state, double *unused, double *out_2163947893984759871) { + H_31(state, unused, out_2163947893984759871); } 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 ffa0f7b99..5f91f61b8 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_3441370810429516799); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_1747596067924150076); -void car_H_mod_fun(double *state, double *out_5211544030531521198); -void car_f_fun(double *state, double dt, double *out_3273966994803944680); -void car_F_fun(double *state, double dt, double *out_3584498956988590310); -void car_h_25(double *state, double *unused, double *out_1500665077942884314); -void car_H_25(double *state, double *unused, double *out_8734592669176886346); -void car_h_24(double *state, double *unused, double *out_8867867868219610133); -void car_H_24(double *state, double *unused, double *out_5176667070374563210); -void car_h_30(double *state, double *unused, double *out_6184127634480483313); -void car_H_30(double *state, double *unused, double *out_1817902327685269591); -void car_h_26(double *state, double *unused, double *out_3579722313671785662); -void car_H_26(double *state, double *unused, double *out_5970648085658609046); -void car_h_27(double *state, double *unused, double *out_4755159644016162940); -void car_H_27(double *state, double *unused, double *out_3992665639485694502); -void car_h_29(double *state, double *unused, double *out_5051706952974846792); -void car_H_29(double *state, double *unused, double *out_1307670983370877407); -void car_h_28(double *state, double *unused, double *out_2479630826403110806); -void car_H_28(double *state, double *unused, double *out_6390070000440407981); -void car_h_31(double *state, double *unused, double *out_2361018398485617338); -void car_H_31(double *state, double *unused, double *out_8703946707299925918); +void car_err_fun(double *nom_x, double *delta_x, double *out_5328892797193692082); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6664197118630309465); +void car_H_mod_fun(double *state, double *out_7049792320674666550); +void car_f_fun(double *state, double dt, double *out_8058289693715916474); +void car_F_fun(double *state, double dt, double *out_6834456908135559848); +void car_h_25(double *state, double *unused, double *out_3817993858643920850); +void car_H_25(double *state, double *unused, double *out_2203763527122647829); +void car_h_24(double *state, double *unused, double *out_589890583681194954); +void car_H_24(double *state, double *unused, double *out_31113928117148263); +void car_h_30(double *state, double *unused, double *out_855557586624953167); +void car_H_30(double *state, double *unused, double *out_4722096485629896456); +void car_h_26(double *state, double *unused, double *out_3459962907433650818); +void car_H_26(double *state, double *unused, double *out_1537739791751408395); +void car_h_27(double *state, double *unused, double *out_2284525577089273540); +void car_H_27(double *state, double *unused, double *out_6945690556813839673); +void car_h_29(double *state, double *unused, double *out_1458873471301430684); +void car_H_29(double *state, double *unused, double *out_5232327829944288640); +void car_h_28(double *state, double *unused, double *out_7286198844750119185); +void car_H_28(double *state, double *unused, double *out_149928812874758066); +void car_h_31(double *state, double *unused, double *out_9220241001058989162); +void car_H_31(double *state, double *unused, double *out_2163947893984759871); 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 4f8af96c2..eace4cd90 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_3059462324026594541) { - out_3059462324026594541[0] = delta_x[0] + nom_x[0]; - out_3059462324026594541[1] = delta_x[1] + nom_x[1]; - out_3059462324026594541[2] = delta_x[2] + nom_x[2]; - out_3059462324026594541[3] = delta_x[3] + nom_x[3]; - out_3059462324026594541[4] = delta_x[4] + nom_x[4]; - out_3059462324026594541[5] = delta_x[5] + nom_x[5]; - out_3059462324026594541[6] = delta_x[6] + nom_x[6]; - out_3059462324026594541[7] = delta_x[7] + nom_x[7]; - out_3059462324026594541[8] = delta_x[8] + nom_x[8]; - out_3059462324026594541[9] = delta_x[9] + nom_x[9]; - out_3059462324026594541[10] = delta_x[10] + nom_x[10]; - out_3059462324026594541[11] = delta_x[11] + nom_x[11]; - out_3059462324026594541[12] = delta_x[12] + nom_x[12]; - out_3059462324026594541[13] = delta_x[13] + nom_x[13]; - out_3059462324026594541[14] = delta_x[14] + nom_x[14]; - out_3059462324026594541[15] = delta_x[15] + nom_x[15]; - out_3059462324026594541[16] = delta_x[16] + nom_x[16]; - out_3059462324026594541[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8334628911363265031) { + out_8334628911363265031[0] = delta_x[0] + nom_x[0]; + out_8334628911363265031[1] = delta_x[1] + nom_x[1]; + out_8334628911363265031[2] = delta_x[2] + nom_x[2]; + out_8334628911363265031[3] = delta_x[3] + nom_x[3]; + out_8334628911363265031[4] = delta_x[4] + nom_x[4]; + out_8334628911363265031[5] = delta_x[5] + nom_x[5]; + out_8334628911363265031[6] = delta_x[6] + nom_x[6]; + out_8334628911363265031[7] = delta_x[7] + nom_x[7]; + out_8334628911363265031[8] = delta_x[8] + nom_x[8]; + out_8334628911363265031[9] = delta_x[9] + nom_x[9]; + out_8334628911363265031[10] = delta_x[10] + nom_x[10]; + out_8334628911363265031[11] = delta_x[11] + nom_x[11]; + out_8334628911363265031[12] = delta_x[12] + nom_x[12]; + out_8334628911363265031[13] = delta_x[13] + nom_x[13]; + out_8334628911363265031[14] = delta_x[14] + nom_x[14]; + out_8334628911363265031[15] = delta_x[15] + nom_x[15]; + out_8334628911363265031[16] = delta_x[16] + nom_x[16]; + out_8334628911363265031[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7293350812574481008) { - out_7293350812574481008[0] = -nom_x[0] + true_x[0]; - out_7293350812574481008[1] = -nom_x[1] + true_x[1]; - out_7293350812574481008[2] = -nom_x[2] + true_x[2]; - out_7293350812574481008[3] = -nom_x[3] + true_x[3]; - out_7293350812574481008[4] = -nom_x[4] + true_x[4]; - out_7293350812574481008[5] = -nom_x[5] + true_x[5]; - out_7293350812574481008[6] = -nom_x[6] + true_x[6]; - out_7293350812574481008[7] = -nom_x[7] + true_x[7]; - out_7293350812574481008[8] = -nom_x[8] + true_x[8]; - out_7293350812574481008[9] = -nom_x[9] + true_x[9]; - out_7293350812574481008[10] = -nom_x[10] + true_x[10]; - out_7293350812574481008[11] = -nom_x[11] + true_x[11]; - out_7293350812574481008[12] = -nom_x[12] + true_x[12]; - out_7293350812574481008[13] = -nom_x[13] + true_x[13]; - out_7293350812574481008[14] = -nom_x[14] + true_x[14]; - out_7293350812574481008[15] = -nom_x[15] + true_x[15]; - out_7293350812574481008[16] = -nom_x[16] + true_x[16]; - out_7293350812574481008[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963) { + out_6557509511038369963[0] = -nom_x[0] + true_x[0]; + out_6557509511038369963[1] = -nom_x[1] + true_x[1]; + out_6557509511038369963[2] = -nom_x[2] + true_x[2]; + out_6557509511038369963[3] = -nom_x[3] + true_x[3]; + out_6557509511038369963[4] = -nom_x[4] + true_x[4]; + out_6557509511038369963[5] = -nom_x[5] + true_x[5]; + out_6557509511038369963[6] = -nom_x[6] + true_x[6]; + out_6557509511038369963[7] = -nom_x[7] + true_x[7]; + out_6557509511038369963[8] = -nom_x[8] + true_x[8]; + out_6557509511038369963[9] = -nom_x[9] + true_x[9]; + out_6557509511038369963[10] = -nom_x[10] + true_x[10]; + out_6557509511038369963[11] = -nom_x[11] + true_x[11]; + out_6557509511038369963[12] = -nom_x[12] + true_x[12]; + out_6557509511038369963[13] = -nom_x[13] + true_x[13]; + out_6557509511038369963[14] = -nom_x[14] + true_x[14]; + out_6557509511038369963[15] = -nom_x[15] + true_x[15]; + out_6557509511038369963[16] = -nom_x[16] + true_x[16]; + out_6557509511038369963[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1219845042234673490) { - out_1219845042234673490[0] = 1.0; - out_1219845042234673490[1] = 0.0; - out_1219845042234673490[2] = 0.0; - out_1219845042234673490[3] = 0.0; - out_1219845042234673490[4] = 0.0; - out_1219845042234673490[5] = 0.0; - out_1219845042234673490[6] = 0.0; - out_1219845042234673490[7] = 0.0; - out_1219845042234673490[8] = 0.0; - out_1219845042234673490[9] = 0.0; - out_1219845042234673490[10] = 0.0; - out_1219845042234673490[11] = 0.0; - out_1219845042234673490[12] = 0.0; - out_1219845042234673490[13] = 0.0; - out_1219845042234673490[14] = 0.0; - out_1219845042234673490[15] = 0.0; - out_1219845042234673490[16] = 0.0; - out_1219845042234673490[17] = 0.0; - out_1219845042234673490[18] = 0.0; - out_1219845042234673490[19] = 1.0; - out_1219845042234673490[20] = 0.0; - out_1219845042234673490[21] = 0.0; - out_1219845042234673490[22] = 0.0; - out_1219845042234673490[23] = 0.0; - out_1219845042234673490[24] = 0.0; - out_1219845042234673490[25] = 0.0; - out_1219845042234673490[26] = 0.0; - out_1219845042234673490[27] = 0.0; - out_1219845042234673490[28] = 0.0; - out_1219845042234673490[29] = 0.0; - out_1219845042234673490[30] = 0.0; - out_1219845042234673490[31] = 0.0; - out_1219845042234673490[32] = 0.0; - out_1219845042234673490[33] = 0.0; - out_1219845042234673490[34] = 0.0; - out_1219845042234673490[35] = 0.0; - out_1219845042234673490[36] = 0.0; - out_1219845042234673490[37] = 0.0; - out_1219845042234673490[38] = 1.0; - out_1219845042234673490[39] = 0.0; - out_1219845042234673490[40] = 0.0; - out_1219845042234673490[41] = 0.0; - out_1219845042234673490[42] = 0.0; - out_1219845042234673490[43] = 0.0; - out_1219845042234673490[44] = 0.0; - out_1219845042234673490[45] = 0.0; - out_1219845042234673490[46] = 0.0; - out_1219845042234673490[47] = 0.0; - out_1219845042234673490[48] = 0.0; - out_1219845042234673490[49] = 0.0; - out_1219845042234673490[50] = 0.0; - out_1219845042234673490[51] = 0.0; - out_1219845042234673490[52] = 0.0; - out_1219845042234673490[53] = 0.0; - out_1219845042234673490[54] = 0.0; - out_1219845042234673490[55] = 0.0; - out_1219845042234673490[56] = 0.0; - out_1219845042234673490[57] = 1.0; - out_1219845042234673490[58] = 0.0; - out_1219845042234673490[59] = 0.0; - out_1219845042234673490[60] = 0.0; - out_1219845042234673490[61] = 0.0; - out_1219845042234673490[62] = 0.0; - out_1219845042234673490[63] = 0.0; - out_1219845042234673490[64] = 0.0; - out_1219845042234673490[65] = 0.0; - out_1219845042234673490[66] = 0.0; - out_1219845042234673490[67] = 0.0; - out_1219845042234673490[68] = 0.0; - out_1219845042234673490[69] = 0.0; - out_1219845042234673490[70] = 0.0; - out_1219845042234673490[71] = 0.0; - out_1219845042234673490[72] = 0.0; - out_1219845042234673490[73] = 0.0; - out_1219845042234673490[74] = 0.0; - out_1219845042234673490[75] = 0.0; - out_1219845042234673490[76] = 1.0; - out_1219845042234673490[77] = 0.0; - out_1219845042234673490[78] = 0.0; - out_1219845042234673490[79] = 0.0; - out_1219845042234673490[80] = 0.0; - out_1219845042234673490[81] = 0.0; - out_1219845042234673490[82] = 0.0; - out_1219845042234673490[83] = 0.0; - out_1219845042234673490[84] = 0.0; - out_1219845042234673490[85] = 0.0; - out_1219845042234673490[86] = 0.0; - out_1219845042234673490[87] = 0.0; - out_1219845042234673490[88] = 0.0; - out_1219845042234673490[89] = 0.0; - out_1219845042234673490[90] = 0.0; - out_1219845042234673490[91] = 0.0; - out_1219845042234673490[92] = 0.0; - out_1219845042234673490[93] = 0.0; - out_1219845042234673490[94] = 0.0; - out_1219845042234673490[95] = 1.0; - out_1219845042234673490[96] = 0.0; - out_1219845042234673490[97] = 0.0; - out_1219845042234673490[98] = 0.0; - out_1219845042234673490[99] = 0.0; - out_1219845042234673490[100] = 0.0; - out_1219845042234673490[101] = 0.0; - out_1219845042234673490[102] = 0.0; - out_1219845042234673490[103] = 0.0; - out_1219845042234673490[104] = 0.0; - out_1219845042234673490[105] = 0.0; - out_1219845042234673490[106] = 0.0; - out_1219845042234673490[107] = 0.0; - out_1219845042234673490[108] = 0.0; - out_1219845042234673490[109] = 0.0; - out_1219845042234673490[110] = 0.0; - out_1219845042234673490[111] = 0.0; - out_1219845042234673490[112] = 0.0; - out_1219845042234673490[113] = 0.0; - out_1219845042234673490[114] = 1.0; - out_1219845042234673490[115] = 0.0; - out_1219845042234673490[116] = 0.0; - out_1219845042234673490[117] = 0.0; - out_1219845042234673490[118] = 0.0; - out_1219845042234673490[119] = 0.0; - out_1219845042234673490[120] = 0.0; - out_1219845042234673490[121] = 0.0; - out_1219845042234673490[122] = 0.0; - out_1219845042234673490[123] = 0.0; - out_1219845042234673490[124] = 0.0; - out_1219845042234673490[125] = 0.0; - out_1219845042234673490[126] = 0.0; - out_1219845042234673490[127] = 0.0; - out_1219845042234673490[128] = 0.0; - out_1219845042234673490[129] = 0.0; - out_1219845042234673490[130] = 0.0; - out_1219845042234673490[131] = 0.0; - out_1219845042234673490[132] = 0.0; - out_1219845042234673490[133] = 1.0; - out_1219845042234673490[134] = 0.0; - out_1219845042234673490[135] = 0.0; - out_1219845042234673490[136] = 0.0; - out_1219845042234673490[137] = 0.0; - out_1219845042234673490[138] = 0.0; - out_1219845042234673490[139] = 0.0; - out_1219845042234673490[140] = 0.0; - out_1219845042234673490[141] = 0.0; - out_1219845042234673490[142] = 0.0; - out_1219845042234673490[143] = 0.0; - out_1219845042234673490[144] = 0.0; - out_1219845042234673490[145] = 0.0; - out_1219845042234673490[146] = 0.0; - out_1219845042234673490[147] = 0.0; - out_1219845042234673490[148] = 0.0; - out_1219845042234673490[149] = 0.0; - out_1219845042234673490[150] = 0.0; - out_1219845042234673490[151] = 0.0; - out_1219845042234673490[152] = 1.0; - out_1219845042234673490[153] = 0.0; - out_1219845042234673490[154] = 0.0; - out_1219845042234673490[155] = 0.0; - out_1219845042234673490[156] = 0.0; - out_1219845042234673490[157] = 0.0; - out_1219845042234673490[158] = 0.0; - out_1219845042234673490[159] = 0.0; - out_1219845042234673490[160] = 0.0; - out_1219845042234673490[161] = 0.0; - out_1219845042234673490[162] = 0.0; - out_1219845042234673490[163] = 0.0; - out_1219845042234673490[164] = 0.0; - out_1219845042234673490[165] = 0.0; - out_1219845042234673490[166] = 0.0; - out_1219845042234673490[167] = 0.0; - out_1219845042234673490[168] = 0.0; - out_1219845042234673490[169] = 0.0; - out_1219845042234673490[170] = 0.0; - out_1219845042234673490[171] = 1.0; - out_1219845042234673490[172] = 0.0; - out_1219845042234673490[173] = 0.0; - out_1219845042234673490[174] = 0.0; - out_1219845042234673490[175] = 0.0; - out_1219845042234673490[176] = 0.0; - out_1219845042234673490[177] = 0.0; - out_1219845042234673490[178] = 0.0; - out_1219845042234673490[179] = 0.0; - out_1219845042234673490[180] = 0.0; - out_1219845042234673490[181] = 0.0; - out_1219845042234673490[182] = 0.0; - out_1219845042234673490[183] = 0.0; - out_1219845042234673490[184] = 0.0; - out_1219845042234673490[185] = 0.0; - out_1219845042234673490[186] = 0.0; - out_1219845042234673490[187] = 0.0; - out_1219845042234673490[188] = 0.0; - out_1219845042234673490[189] = 0.0; - out_1219845042234673490[190] = 1.0; - out_1219845042234673490[191] = 0.0; - out_1219845042234673490[192] = 0.0; - out_1219845042234673490[193] = 0.0; - out_1219845042234673490[194] = 0.0; - out_1219845042234673490[195] = 0.0; - out_1219845042234673490[196] = 0.0; - out_1219845042234673490[197] = 0.0; - out_1219845042234673490[198] = 0.0; - out_1219845042234673490[199] = 0.0; - out_1219845042234673490[200] = 0.0; - out_1219845042234673490[201] = 0.0; - out_1219845042234673490[202] = 0.0; - out_1219845042234673490[203] = 0.0; - out_1219845042234673490[204] = 0.0; - out_1219845042234673490[205] = 0.0; - out_1219845042234673490[206] = 0.0; - out_1219845042234673490[207] = 0.0; - out_1219845042234673490[208] = 0.0; - out_1219845042234673490[209] = 1.0; - out_1219845042234673490[210] = 0.0; - out_1219845042234673490[211] = 0.0; - out_1219845042234673490[212] = 0.0; - out_1219845042234673490[213] = 0.0; - out_1219845042234673490[214] = 0.0; - out_1219845042234673490[215] = 0.0; - out_1219845042234673490[216] = 0.0; - out_1219845042234673490[217] = 0.0; - out_1219845042234673490[218] = 0.0; - out_1219845042234673490[219] = 0.0; - out_1219845042234673490[220] = 0.0; - out_1219845042234673490[221] = 0.0; - out_1219845042234673490[222] = 0.0; - out_1219845042234673490[223] = 0.0; - out_1219845042234673490[224] = 0.0; - out_1219845042234673490[225] = 0.0; - out_1219845042234673490[226] = 0.0; - out_1219845042234673490[227] = 0.0; - out_1219845042234673490[228] = 1.0; - out_1219845042234673490[229] = 0.0; - out_1219845042234673490[230] = 0.0; - out_1219845042234673490[231] = 0.0; - out_1219845042234673490[232] = 0.0; - out_1219845042234673490[233] = 0.0; - out_1219845042234673490[234] = 0.0; - out_1219845042234673490[235] = 0.0; - out_1219845042234673490[236] = 0.0; - out_1219845042234673490[237] = 0.0; - out_1219845042234673490[238] = 0.0; - out_1219845042234673490[239] = 0.0; - out_1219845042234673490[240] = 0.0; - out_1219845042234673490[241] = 0.0; - out_1219845042234673490[242] = 0.0; - out_1219845042234673490[243] = 0.0; - out_1219845042234673490[244] = 0.0; - out_1219845042234673490[245] = 0.0; - out_1219845042234673490[246] = 0.0; - out_1219845042234673490[247] = 1.0; - out_1219845042234673490[248] = 0.0; - out_1219845042234673490[249] = 0.0; - out_1219845042234673490[250] = 0.0; - out_1219845042234673490[251] = 0.0; - out_1219845042234673490[252] = 0.0; - out_1219845042234673490[253] = 0.0; - out_1219845042234673490[254] = 0.0; - out_1219845042234673490[255] = 0.0; - out_1219845042234673490[256] = 0.0; - out_1219845042234673490[257] = 0.0; - out_1219845042234673490[258] = 0.0; - out_1219845042234673490[259] = 0.0; - out_1219845042234673490[260] = 0.0; - out_1219845042234673490[261] = 0.0; - out_1219845042234673490[262] = 0.0; - out_1219845042234673490[263] = 0.0; - out_1219845042234673490[264] = 0.0; - out_1219845042234673490[265] = 0.0; - out_1219845042234673490[266] = 1.0; - out_1219845042234673490[267] = 0.0; - out_1219845042234673490[268] = 0.0; - out_1219845042234673490[269] = 0.0; - out_1219845042234673490[270] = 0.0; - out_1219845042234673490[271] = 0.0; - out_1219845042234673490[272] = 0.0; - out_1219845042234673490[273] = 0.0; - out_1219845042234673490[274] = 0.0; - out_1219845042234673490[275] = 0.0; - out_1219845042234673490[276] = 0.0; - out_1219845042234673490[277] = 0.0; - out_1219845042234673490[278] = 0.0; - out_1219845042234673490[279] = 0.0; - out_1219845042234673490[280] = 0.0; - out_1219845042234673490[281] = 0.0; - out_1219845042234673490[282] = 0.0; - out_1219845042234673490[283] = 0.0; - out_1219845042234673490[284] = 0.0; - out_1219845042234673490[285] = 1.0; - out_1219845042234673490[286] = 0.0; - out_1219845042234673490[287] = 0.0; - out_1219845042234673490[288] = 0.0; - out_1219845042234673490[289] = 0.0; - out_1219845042234673490[290] = 0.0; - out_1219845042234673490[291] = 0.0; - out_1219845042234673490[292] = 0.0; - out_1219845042234673490[293] = 0.0; - out_1219845042234673490[294] = 0.0; - out_1219845042234673490[295] = 0.0; - out_1219845042234673490[296] = 0.0; - out_1219845042234673490[297] = 0.0; - out_1219845042234673490[298] = 0.0; - out_1219845042234673490[299] = 0.0; - out_1219845042234673490[300] = 0.0; - out_1219845042234673490[301] = 0.0; - out_1219845042234673490[302] = 0.0; - out_1219845042234673490[303] = 0.0; - out_1219845042234673490[304] = 1.0; - out_1219845042234673490[305] = 0.0; - out_1219845042234673490[306] = 0.0; - out_1219845042234673490[307] = 0.0; - out_1219845042234673490[308] = 0.0; - out_1219845042234673490[309] = 0.0; - out_1219845042234673490[310] = 0.0; - out_1219845042234673490[311] = 0.0; - out_1219845042234673490[312] = 0.0; - out_1219845042234673490[313] = 0.0; - out_1219845042234673490[314] = 0.0; - out_1219845042234673490[315] = 0.0; - out_1219845042234673490[316] = 0.0; - out_1219845042234673490[317] = 0.0; - out_1219845042234673490[318] = 0.0; - out_1219845042234673490[319] = 0.0; - out_1219845042234673490[320] = 0.0; - out_1219845042234673490[321] = 0.0; - out_1219845042234673490[322] = 0.0; - out_1219845042234673490[323] = 1.0; +void H_mod_fun(double *state, double *out_2207458853057691014) { + out_2207458853057691014[0] = 1.0; + out_2207458853057691014[1] = 0.0; + out_2207458853057691014[2] = 0.0; + out_2207458853057691014[3] = 0.0; + out_2207458853057691014[4] = 0.0; + out_2207458853057691014[5] = 0.0; + out_2207458853057691014[6] = 0.0; + out_2207458853057691014[7] = 0.0; + out_2207458853057691014[8] = 0.0; + out_2207458853057691014[9] = 0.0; + out_2207458853057691014[10] = 0.0; + out_2207458853057691014[11] = 0.0; + out_2207458853057691014[12] = 0.0; + out_2207458853057691014[13] = 0.0; + out_2207458853057691014[14] = 0.0; + out_2207458853057691014[15] = 0.0; + out_2207458853057691014[16] = 0.0; + out_2207458853057691014[17] = 0.0; + out_2207458853057691014[18] = 0.0; + out_2207458853057691014[19] = 1.0; + out_2207458853057691014[20] = 0.0; + out_2207458853057691014[21] = 0.0; + out_2207458853057691014[22] = 0.0; + out_2207458853057691014[23] = 0.0; + out_2207458853057691014[24] = 0.0; + out_2207458853057691014[25] = 0.0; + out_2207458853057691014[26] = 0.0; + out_2207458853057691014[27] = 0.0; + out_2207458853057691014[28] = 0.0; + out_2207458853057691014[29] = 0.0; + out_2207458853057691014[30] = 0.0; + out_2207458853057691014[31] = 0.0; + out_2207458853057691014[32] = 0.0; + out_2207458853057691014[33] = 0.0; + out_2207458853057691014[34] = 0.0; + out_2207458853057691014[35] = 0.0; + out_2207458853057691014[36] = 0.0; + out_2207458853057691014[37] = 0.0; + out_2207458853057691014[38] = 1.0; + out_2207458853057691014[39] = 0.0; + out_2207458853057691014[40] = 0.0; + out_2207458853057691014[41] = 0.0; + out_2207458853057691014[42] = 0.0; + out_2207458853057691014[43] = 0.0; + out_2207458853057691014[44] = 0.0; + out_2207458853057691014[45] = 0.0; + out_2207458853057691014[46] = 0.0; + out_2207458853057691014[47] = 0.0; + out_2207458853057691014[48] = 0.0; + out_2207458853057691014[49] = 0.0; + out_2207458853057691014[50] = 0.0; + out_2207458853057691014[51] = 0.0; + out_2207458853057691014[52] = 0.0; + out_2207458853057691014[53] = 0.0; + out_2207458853057691014[54] = 0.0; + out_2207458853057691014[55] = 0.0; + out_2207458853057691014[56] = 0.0; + out_2207458853057691014[57] = 1.0; + out_2207458853057691014[58] = 0.0; + out_2207458853057691014[59] = 0.0; + out_2207458853057691014[60] = 0.0; + out_2207458853057691014[61] = 0.0; + out_2207458853057691014[62] = 0.0; + out_2207458853057691014[63] = 0.0; + out_2207458853057691014[64] = 0.0; + out_2207458853057691014[65] = 0.0; + out_2207458853057691014[66] = 0.0; + out_2207458853057691014[67] = 0.0; + out_2207458853057691014[68] = 0.0; + out_2207458853057691014[69] = 0.0; + out_2207458853057691014[70] = 0.0; + out_2207458853057691014[71] = 0.0; + out_2207458853057691014[72] = 0.0; + out_2207458853057691014[73] = 0.0; + out_2207458853057691014[74] = 0.0; + out_2207458853057691014[75] = 0.0; + out_2207458853057691014[76] = 1.0; + out_2207458853057691014[77] = 0.0; + out_2207458853057691014[78] = 0.0; + out_2207458853057691014[79] = 0.0; + out_2207458853057691014[80] = 0.0; + out_2207458853057691014[81] = 0.0; + out_2207458853057691014[82] = 0.0; + out_2207458853057691014[83] = 0.0; + out_2207458853057691014[84] = 0.0; + out_2207458853057691014[85] = 0.0; + out_2207458853057691014[86] = 0.0; + out_2207458853057691014[87] = 0.0; + out_2207458853057691014[88] = 0.0; + out_2207458853057691014[89] = 0.0; + out_2207458853057691014[90] = 0.0; + out_2207458853057691014[91] = 0.0; + out_2207458853057691014[92] = 0.0; + out_2207458853057691014[93] = 0.0; + out_2207458853057691014[94] = 0.0; + out_2207458853057691014[95] = 1.0; + out_2207458853057691014[96] = 0.0; + out_2207458853057691014[97] = 0.0; + out_2207458853057691014[98] = 0.0; + out_2207458853057691014[99] = 0.0; + out_2207458853057691014[100] = 0.0; + out_2207458853057691014[101] = 0.0; + out_2207458853057691014[102] = 0.0; + out_2207458853057691014[103] = 0.0; + out_2207458853057691014[104] = 0.0; + out_2207458853057691014[105] = 0.0; + out_2207458853057691014[106] = 0.0; + out_2207458853057691014[107] = 0.0; + out_2207458853057691014[108] = 0.0; + out_2207458853057691014[109] = 0.0; + out_2207458853057691014[110] = 0.0; + out_2207458853057691014[111] = 0.0; + out_2207458853057691014[112] = 0.0; + out_2207458853057691014[113] = 0.0; + out_2207458853057691014[114] = 1.0; + out_2207458853057691014[115] = 0.0; + out_2207458853057691014[116] = 0.0; + out_2207458853057691014[117] = 0.0; + out_2207458853057691014[118] = 0.0; + out_2207458853057691014[119] = 0.0; + out_2207458853057691014[120] = 0.0; + out_2207458853057691014[121] = 0.0; + out_2207458853057691014[122] = 0.0; + out_2207458853057691014[123] = 0.0; + out_2207458853057691014[124] = 0.0; + out_2207458853057691014[125] = 0.0; + out_2207458853057691014[126] = 0.0; + out_2207458853057691014[127] = 0.0; + out_2207458853057691014[128] = 0.0; + out_2207458853057691014[129] = 0.0; + out_2207458853057691014[130] = 0.0; + out_2207458853057691014[131] = 0.0; + out_2207458853057691014[132] = 0.0; + out_2207458853057691014[133] = 1.0; + out_2207458853057691014[134] = 0.0; + out_2207458853057691014[135] = 0.0; + out_2207458853057691014[136] = 0.0; + out_2207458853057691014[137] = 0.0; + out_2207458853057691014[138] = 0.0; + out_2207458853057691014[139] = 0.0; + out_2207458853057691014[140] = 0.0; + out_2207458853057691014[141] = 0.0; + out_2207458853057691014[142] = 0.0; + out_2207458853057691014[143] = 0.0; + out_2207458853057691014[144] = 0.0; + out_2207458853057691014[145] = 0.0; + out_2207458853057691014[146] = 0.0; + out_2207458853057691014[147] = 0.0; + out_2207458853057691014[148] = 0.0; + out_2207458853057691014[149] = 0.0; + out_2207458853057691014[150] = 0.0; + out_2207458853057691014[151] = 0.0; + out_2207458853057691014[152] = 1.0; + out_2207458853057691014[153] = 0.0; + out_2207458853057691014[154] = 0.0; + out_2207458853057691014[155] = 0.0; + out_2207458853057691014[156] = 0.0; + out_2207458853057691014[157] = 0.0; + out_2207458853057691014[158] = 0.0; + out_2207458853057691014[159] = 0.0; + out_2207458853057691014[160] = 0.0; + out_2207458853057691014[161] = 0.0; + out_2207458853057691014[162] = 0.0; + out_2207458853057691014[163] = 0.0; + out_2207458853057691014[164] = 0.0; + out_2207458853057691014[165] = 0.0; + out_2207458853057691014[166] = 0.0; + out_2207458853057691014[167] = 0.0; + out_2207458853057691014[168] = 0.0; + out_2207458853057691014[169] = 0.0; + out_2207458853057691014[170] = 0.0; + out_2207458853057691014[171] = 1.0; + out_2207458853057691014[172] = 0.0; + out_2207458853057691014[173] = 0.0; + out_2207458853057691014[174] = 0.0; + out_2207458853057691014[175] = 0.0; + out_2207458853057691014[176] = 0.0; + out_2207458853057691014[177] = 0.0; + out_2207458853057691014[178] = 0.0; + out_2207458853057691014[179] = 0.0; + out_2207458853057691014[180] = 0.0; + out_2207458853057691014[181] = 0.0; + out_2207458853057691014[182] = 0.0; + out_2207458853057691014[183] = 0.0; + out_2207458853057691014[184] = 0.0; + out_2207458853057691014[185] = 0.0; + out_2207458853057691014[186] = 0.0; + out_2207458853057691014[187] = 0.0; + out_2207458853057691014[188] = 0.0; + out_2207458853057691014[189] = 0.0; + out_2207458853057691014[190] = 1.0; + out_2207458853057691014[191] = 0.0; + out_2207458853057691014[192] = 0.0; + out_2207458853057691014[193] = 0.0; + out_2207458853057691014[194] = 0.0; + out_2207458853057691014[195] = 0.0; + out_2207458853057691014[196] = 0.0; + out_2207458853057691014[197] = 0.0; + out_2207458853057691014[198] = 0.0; + out_2207458853057691014[199] = 0.0; + out_2207458853057691014[200] = 0.0; + out_2207458853057691014[201] = 0.0; + out_2207458853057691014[202] = 0.0; + out_2207458853057691014[203] = 0.0; + out_2207458853057691014[204] = 0.0; + out_2207458853057691014[205] = 0.0; + out_2207458853057691014[206] = 0.0; + out_2207458853057691014[207] = 0.0; + out_2207458853057691014[208] = 0.0; + out_2207458853057691014[209] = 1.0; + out_2207458853057691014[210] = 0.0; + out_2207458853057691014[211] = 0.0; + out_2207458853057691014[212] = 0.0; + out_2207458853057691014[213] = 0.0; + out_2207458853057691014[214] = 0.0; + out_2207458853057691014[215] = 0.0; + out_2207458853057691014[216] = 0.0; + out_2207458853057691014[217] = 0.0; + out_2207458853057691014[218] = 0.0; + out_2207458853057691014[219] = 0.0; + out_2207458853057691014[220] = 0.0; + out_2207458853057691014[221] = 0.0; + out_2207458853057691014[222] = 0.0; + out_2207458853057691014[223] = 0.0; + out_2207458853057691014[224] = 0.0; + out_2207458853057691014[225] = 0.0; + out_2207458853057691014[226] = 0.0; + out_2207458853057691014[227] = 0.0; + out_2207458853057691014[228] = 1.0; + out_2207458853057691014[229] = 0.0; + out_2207458853057691014[230] = 0.0; + out_2207458853057691014[231] = 0.0; + out_2207458853057691014[232] = 0.0; + out_2207458853057691014[233] = 0.0; + out_2207458853057691014[234] = 0.0; + out_2207458853057691014[235] = 0.0; + out_2207458853057691014[236] = 0.0; + out_2207458853057691014[237] = 0.0; + out_2207458853057691014[238] = 0.0; + out_2207458853057691014[239] = 0.0; + out_2207458853057691014[240] = 0.0; + out_2207458853057691014[241] = 0.0; + out_2207458853057691014[242] = 0.0; + out_2207458853057691014[243] = 0.0; + out_2207458853057691014[244] = 0.0; + out_2207458853057691014[245] = 0.0; + out_2207458853057691014[246] = 0.0; + out_2207458853057691014[247] = 1.0; + out_2207458853057691014[248] = 0.0; + out_2207458853057691014[249] = 0.0; + out_2207458853057691014[250] = 0.0; + out_2207458853057691014[251] = 0.0; + out_2207458853057691014[252] = 0.0; + out_2207458853057691014[253] = 0.0; + out_2207458853057691014[254] = 0.0; + out_2207458853057691014[255] = 0.0; + out_2207458853057691014[256] = 0.0; + out_2207458853057691014[257] = 0.0; + out_2207458853057691014[258] = 0.0; + out_2207458853057691014[259] = 0.0; + out_2207458853057691014[260] = 0.0; + out_2207458853057691014[261] = 0.0; + out_2207458853057691014[262] = 0.0; + out_2207458853057691014[263] = 0.0; + out_2207458853057691014[264] = 0.0; + out_2207458853057691014[265] = 0.0; + out_2207458853057691014[266] = 1.0; + out_2207458853057691014[267] = 0.0; + out_2207458853057691014[268] = 0.0; + out_2207458853057691014[269] = 0.0; + out_2207458853057691014[270] = 0.0; + out_2207458853057691014[271] = 0.0; + out_2207458853057691014[272] = 0.0; + out_2207458853057691014[273] = 0.0; + out_2207458853057691014[274] = 0.0; + out_2207458853057691014[275] = 0.0; + out_2207458853057691014[276] = 0.0; + out_2207458853057691014[277] = 0.0; + out_2207458853057691014[278] = 0.0; + out_2207458853057691014[279] = 0.0; + out_2207458853057691014[280] = 0.0; + out_2207458853057691014[281] = 0.0; + out_2207458853057691014[282] = 0.0; + out_2207458853057691014[283] = 0.0; + out_2207458853057691014[284] = 0.0; + out_2207458853057691014[285] = 1.0; + out_2207458853057691014[286] = 0.0; + out_2207458853057691014[287] = 0.0; + out_2207458853057691014[288] = 0.0; + out_2207458853057691014[289] = 0.0; + out_2207458853057691014[290] = 0.0; + out_2207458853057691014[291] = 0.0; + out_2207458853057691014[292] = 0.0; + out_2207458853057691014[293] = 0.0; + out_2207458853057691014[294] = 0.0; + out_2207458853057691014[295] = 0.0; + out_2207458853057691014[296] = 0.0; + out_2207458853057691014[297] = 0.0; + out_2207458853057691014[298] = 0.0; + out_2207458853057691014[299] = 0.0; + out_2207458853057691014[300] = 0.0; + out_2207458853057691014[301] = 0.0; + out_2207458853057691014[302] = 0.0; + out_2207458853057691014[303] = 0.0; + out_2207458853057691014[304] = 1.0; + out_2207458853057691014[305] = 0.0; + out_2207458853057691014[306] = 0.0; + out_2207458853057691014[307] = 0.0; + out_2207458853057691014[308] = 0.0; + out_2207458853057691014[309] = 0.0; + out_2207458853057691014[310] = 0.0; + out_2207458853057691014[311] = 0.0; + out_2207458853057691014[312] = 0.0; + out_2207458853057691014[313] = 0.0; + out_2207458853057691014[314] = 0.0; + out_2207458853057691014[315] = 0.0; + out_2207458853057691014[316] = 0.0; + out_2207458853057691014[317] = 0.0; + out_2207458853057691014[318] = 0.0; + out_2207458853057691014[319] = 0.0; + out_2207458853057691014[320] = 0.0; + out_2207458853057691014[321] = 0.0; + out_2207458853057691014[322] = 0.0; + out_2207458853057691014[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6142826586467809321) { - out_6142826586467809321[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_6142826586467809321[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_6142826586467809321[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_6142826586467809321[3] = dt*state[12] + state[3]; - out_6142826586467809321[4] = dt*state[13] + state[4]; - out_6142826586467809321[5] = dt*state[14] + state[5]; - out_6142826586467809321[6] = state[6]; - out_6142826586467809321[7] = state[7]; - out_6142826586467809321[8] = state[8]; - out_6142826586467809321[9] = state[9]; - out_6142826586467809321[10] = state[10]; - out_6142826586467809321[11] = state[11]; - out_6142826586467809321[12] = state[12]; - out_6142826586467809321[13] = state[13]; - out_6142826586467809321[14] = state[14]; - out_6142826586467809321[15] = state[15]; - out_6142826586467809321[16] = state[16]; - out_6142826586467809321[17] = state[17]; +void f_fun(double *state, double dt, double *out_7635303320387631810) { + out_7635303320387631810[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_7635303320387631810[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_7635303320387631810[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_7635303320387631810[3] = dt*state[12] + state[3]; + out_7635303320387631810[4] = dt*state[13] + state[4]; + out_7635303320387631810[5] = dt*state[14] + state[5]; + out_7635303320387631810[6] = state[6]; + out_7635303320387631810[7] = state[7]; + out_7635303320387631810[8] = state[8]; + out_7635303320387631810[9] = state[9]; + out_7635303320387631810[10] = state[10]; + out_7635303320387631810[11] = state[11]; + out_7635303320387631810[12] = state[12]; + out_7635303320387631810[13] = state[13]; + out_7635303320387631810[14] = state[14]; + out_7635303320387631810[15] = state[15]; + out_7635303320387631810[16] = state[16]; + out_7635303320387631810[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8396239383595830029) { - out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[2] = 0; - out_8396239383595830029[3] = 0; - out_8396239383595830029[4] = 0; - out_8396239383595830029[5] = 0; - out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[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_8396239383595830029[9] = 0; - out_8396239383595830029[10] = 0; - out_8396239383595830029[11] = 0; - out_8396239383595830029[12] = 0; - out_8396239383595830029[13] = 0; - out_8396239383595830029[14] = 0; - out_8396239383595830029[15] = 0; - out_8396239383595830029[16] = 0; - out_8396239383595830029[17] = 0; - out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[20] = 0; - out_8396239383595830029[21] = 0; - out_8396239383595830029[22] = 0; - out_8396239383595830029[23] = 0; - out_8396239383595830029[24] = 0; - out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[27] = 0; - out_8396239383595830029[28] = 0; - out_8396239383595830029[29] = 0; - out_8396239383595830029[30] = 0; - out_8396239383595830029[31] = 0; - out_8396239383595830029[32] = 0; - out_8396239383595830029[33] = 0; - out_8396239383595830029[34] = 0; - out_8396239383595830029[35] = 0; - out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[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_8396239383595830029[39] = 0; - out_8396239383595830029[40] = 0; - out_8396239383595830029[41] = 0; - out_8396239383595830029[42] = 0; - out_8396239383595830029[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_8396239383595830029[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_8396239383595830029[45] = 0; - out_8396239383595830029[46] = 0; - out_8396239383595830029[47] = 0; - out_8396239383595830029[48] = 0; - out_8396239383595830029[49] = 0; - out_8396239383595830029[50] = 0; - out_8396239383595830029[51] = 0; - out_8396239383595830029[52] = 0; - out_8396239383595830029[53] = 0; - out_8396239383595830029[54] = 0; - out_8396239383595830029[55] = 0; - out_8396239383595830029[56] = 0; - out_8396239383595830029[57] = 1; - out_8396239383595830029[58] = 0; - out_8396239383595830029[59] = 0; - out_8396239383595830029[60] = 0; - out_8396239383595830029[61] = 0; - out_8396239383595830029[62] = 0; - out_8396239383595830029[63] = 0; - out_8396239383595830029[64] = 0; - out_8396239383595830029[65] = 0; - out_8396239383595830029[66] = dt; - out_8396239383595830029[67] = 0; - out_8396239383595830029[68] = 0; - out_8396239383595830029[69] = 0; - out_8396239383595830029[70] = 0; - out_8396239383595830029[71] = 0; - out_8396239383595830029[72] = 0; - out_8396239383595830029[73] = 0; - out_8396239383595830029[74] = 0; - out_8396239383595830029[75] = 0; - out_8396239383595830029[76] = 1; - out_8396239383595830029[77] = 0; - out_8396239383595830029[78] = 0; - out_8396239383595830029[79] = 0; - out_8396239383595830029[80] = 0; - out_8396239383595830029[81] = 0; - out_8396239383595830029[82] = 0; - out_8396239383595830029[83] = 0; - out_8396239383595830029[84] = 0; - out_8396239383595830029[85] = dt; - out_8396239383595830029[86] = 0; - out_8396239383595830029[87] = 0; - out_8396239383595830029[88] = 0; - out_8396239383595830029[89] = 0; - out_8396239383595830029[90] = 0; - out_8396239383595830029[91] = 0; - out_8396239383595830029[92] = 0; - out_8396239383595830029[93] = 0; - out_8396239383595830029[94] = 0; - out_8396239383595830029[95] = 1; - out_8396239383595830029[96] = 0; - out_8396239383595830029[97] = 0; - out_8396239383595830029[98] = 0; - out_8396239383595830029[99] = 0; - out_8396239383595830029[100] = 0; - out_8396239383595830029[101] = 0; - out_8396239383595830029[102] = 0; - out_8396239383595830029[103] = 0; - out_8396239383595830029[104] = dt; - out_8396239383595830029[105] = 0; - out_8396239383595830029[106] = 0; - out_8396239383595830029[107] = 0; - out_8396239383595830029[108] = 0; - out_8396239383595830029[109] = 0; - out_8396239383595830029[110] = 0; - out_8396239383595830029[111] = 0; - out_8396239383595830029[112] = 0; - out_8396239383595830029[113] = 0; - out_8396239383595830029[114] = 1; - out_8396239383595830029[115] = 0; - out_8396239383595830029[116] = 0; - out_8396239383595830029[117] = 0; - out_8396239383595830029[118] = 0; - out_8396239383595830029[119] = 0; - out_8396239383595830029[120] = 0; - out_8396239383595830029[121] = 0; - out_8396239383595830029[122] = 0; - out_8396239383595830029[123] = 0; - out_8396239383595830029[124] = 0; - out_8396239383595830029[125] = 0; - out_8396239383595830029[126] = 0; - out_8396239383595830029[127] = 0; - out_8396239383595830029[128] = 0; - out_8396239383595830029[129] = 0; - out_8396239383595830029[130] = 0; - out_8396239383595830029[131] = 0; - out_8396239383595830029[132] = 0; - out_8396239383595830029[133] = 1; - out_8396239383595830029[134] = 0; - out_8396239383595830029[135] = 0; - out_8396239383595830029[136] = 0; - out_8396239383595830029[137] = 0; - out_8396239383595830029[138] = 0; - out_8396239383595830029[139] = 0; - out_8396239383595830029[140] = 0; - out_8396239383595830029[141] = 0; - out_8396239383595830029[142] = 0; - out_8396239383595830029[143] = 0; - out_8396239383595830029[144] = 0; - out_8396239383595830029[145] = 0; - out_8396239383595830029[146] = 0; - out_8396239383595830029[147] = 0; - out_8396239383595830029[148] = 0; - out_8396239383595830029[149] = 0; - out_8396239383595830029[150] = 0; - out_8396239383595830029[151] = 0; - out_8396239383595830029[152] = 1; - out_8396239383595830029[153] = 0; - out_8396239383595830029[154] = 0; - out_8396239383595830029[155] = 0; - out_8396239383595830029[156] = 0; - out_8396239383595830029[157] = 0; - out_8396239383595830029[158] = 0; - out_8396239383595830029[159] = 0; - out_8396239383595830029[160] = 0; - out_8396239383595830029[161] = 0; - out_8396239383595830029[162] = 0; - out_8396239383595830029[163] = 0; - out_8396239383595830029[164] = 0; - out_8396239383595830029[165] = 0; - out_8396239383595830029[166] = 0; - out_8396239383595830029[167] = 0; - out_8396239383595830029[168] = 0; - out_8396239383595830029[169] = 0; - out_8396239383595830029[170] = 0; - out_8396239383595830029[171] = 1; - out_8396239383595830029[172] = 0; - out_8396239383595830029[173] = 0; - out_8396239383595830029[174] = 0; - out_8396239383595830029[175] = 0; - out_8396239383595830029[176] = 0; - out_8396239383595830029[177] = 0; - out_8396239383595830029[178] = 0; - out_8396239383595830029[179] = 0; - out_8396239383595830029[180] = 0; - out_8396239383595830029[181] = 0; - out_8396239383595830029[182] = 0; - out_8396239383595830029[183] = 0; - out_8396239383595830029[184] = 0; - out_8396239383595830029[185] = 0; - out_8396239383595830029[186] = 0; - out_8396239383595830029[187] = 0; - out_8396239383595830029[188] = 0; - out_8396239383595830029[189] = 0; - out_8396239383595830029[190] = 1; - out_8396239383595830029[191] = 0; - out_8396239383595830029[192] = 0; - out_8396239383595830029[193] = 0; - out_8396239383595830029[194] = 0; - out_8396239383595830029[195] = 0; - out_8396239383595830029[196] = 0; - out_8396239383595830029[197] = 0; - out_8396239383595830029[198] = 0; - out_8396239383595830029[199] = 0; - out_8396239383595830029[200] = 0; - out_8396239383595830029[201] = 0; - out_8396239383595830029[202] = 0; - out_8396239383595830029[203] = 0; - out_8396239383595830029[204] = 0; - out_8396239383595830029[205] = 0; - out_8396239383595830029[206] = 0; - out_8396239383595830029[207] = 0; - out_8396239383595830029[208] = 0; - out_8396239383595830029[209] = 1; - out_8396239383595830029[210] = 0; - out_8396239383595830029[211] = 0; - out_8396239383595830029[212] = 0; - out_8396239383595830029[213] = 0; - out_8396239383595830029[214] = 0; - out_8396239383595830029[215] = 0; - out_8396239383595830029[216] = 0; - out_8396239383595830029[217] = 0; - out_8396239383595830029[218] = 0; - out_8396239383595830029[219] = 0; - out_8396239383595830029[220] = 0; - out_8396239383595830029[221] = 0; - out_8396239383595830029[222] = 0; - out_8396239383595830029[223] = 0; - out_8396239383595830029[224] = 0; - out_8396239383595830029[225] = 0; - out_8396239383595830029[226] = 0; - out_8396239383595830029[227] = 0; - out_8396239383595830029[228] = 1; - out_8396239383595830029[229] = 0; - out_8396239383595830029[230] = 0; - out_8396239383595830029[231] = 0; - out_8396239383595830029[232] = 0; - out_8396239383595830029[233] = 0; - out_8396239383595830029[234] = 0; - out_8396239383595830029[235] = 0; - out_8396239383595830029[236] = 0; - out_8396239383595830029[237] = 0; - out_8396239383595830029[238] = 0; - out_8396239383595830029[239] = 0; - out_8396239383595830029[240] = 0; - out_8396239383595830029[241] = 0; - out_8396239383595830029[242] = 0; - out_8396239383595830029[243] = 0; - out_8396239383595830029[244] = 0; - out_8396239383595830029[245] = 0; - out_8396239383595830029[246] = 0; - out_8396239383595830029[247] = 1; - out_8396239383595830029[248] = 0; - out_8396239383595830029[249] = 0; - out_8396239383595830029[250] = 0; - out_8396239383595830029[251] = 0; - out_8396239383595830029[252] = 0; - out_8396239383595830029[253] = 0; - out_8396239383595830029[254] = 0; - out_8396239383595830029[255] = 0; - out_8396239383595830029[256] = 0; - out_8396239383595830029[257] = 0; - out_8396239383595830029[258] = 0; - out_8396239383595830029[259] = 0; - out_8396239383595830029[260] = 0; - out_8396239383595830029[261] = 0; - out_8396239383595830029[262] = 0; - out_8396239383595830029[263] = 0; - out_8396239383595830029[264] = 0; - out_8396239383595830029[265] = 0; - out_8396239383595830029[266] = 1; - out_8396239383595830029[267] = 0; - out_8396239383595830029[268] = 0; - out_8396239383595830029[269] = 0; - out_8396239383595830029[270] = 0; - out_8396239383595830029[271] = 0; - out_8396239383595830029[272] = 0; - out_8396239383595830029[273] = 0; - out_8396239383595830029[274] = 0; - out_8396239383595830029[275] = 0; - out_8396239383595830029[276] = 0; - out_8396239383595830029[277] = 0; - out_8396239383595830029[278] = 0; - out_8396239383595830029[279] = 0; - out_8396239383595830029[280] = 0; - out_8396239383595830029[281] = 0; - out_8396239383595830029[282] = 0; - out_8396239383595830029[283] = 0; - out_8396239383595830029[284] = 0; - out_8396239383595830029[285] = 1; - out_8396239383595830029[286] = 0; - out_8396239383595830029[287] = 0; - out_8396239383595830029[288] = 0; - out_8396239383595830029[289] = 0; - out_8396239383595830029[290] = 0; - out_8396239383595830029[291] = 0; - out_8396239383595830029[292] = 0; - out_8396239383595830029[293] = 0; - out_8396239383595830029[294] = 0; - out_8396239383595830029[295] = 0; - out_8396239383595830029[296] = 0; - out_8396239383595830029[297] = 0; - out_8396239383595830029[298] = 0; - out_8396239383595830029[299] = 0; - out_8396239383595830029[300] = 0; - out_8396239383595830029[301] = 0; - out_8396239383595830029[302] = 0; - out_8396239383595830029[303] = 0; - out_8396239383595830029[304] = 1; - out_8396239383595830029[305] = 0; - out_8396239383595830029[306] = 0; - out_8396239383595830029[307] = 0; - out_8396239383595830029[308] = 0; - out_8396239383595830029[309] = 0; - out_8396239383595830029[310] = 0; - out_8396239383595830029[311] = 0; - out_8396239383595830029[312] = 0; - out_8396239383595830029[313] = 0; - out_8396239383595830029[314] = 0; - out_8396239383595830029[315] = 0; - out_8396239383595830029[316] = 0; - out_8396239383595830029[317] = 0; - out_8396239383595830029[318] = 0; - out_8396239383595830029[319] = 0; - out_8396239383595830029[320] = 0; - out_8396239383595830029[321] = 0; - out_8396239383595830029[322] = 0; - out_8396239383595830029[323] = 1; +void F_fun(double *state, double dt, double *out_8324840199262111301) { + out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[2] = 0; + out_8324840199262111301[3] = 0; + out_8324840199262111301[4] = 0; + out_8324840199262111301[5] = 0; + out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[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_8324840199262111301[9] = 0; + out_8324840199262111301[10] = 0; + out_8324840199262111301[11] = 0; + out_8324840199262111301[12] = 0; + out_8324840199262111301[13] = 0; + out_8324840199262111301[14] = 0; + out_8324840199262111301[15] = 0; + out_8324840199262111301[16] = 0; + out_8324840199262111301[17] = 0; + out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[20] = 0; + out_8324840199262111301[21] = 0; + out_8324840199262111301[22] = 0; + out_8324840199262111301[23] = 0; + out_8324840199262111301[24] = 0; + out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[27] = 0; + out_8324840199262111301[28] = 0; + out_8324840199262111301[29] = 0; + out_8324840199262111301[30] = 0; + out_8324840199262111301[31] = 0; + out_8324840199262111301[32] = 0; + out_8324840199262111301[33] = 0; + out_8324840199262111301[34] = 0; + out_8324840199262111301[35] = 0; + out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[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_8324840199262111301[39] = 0; + out_8324840199262111301[40] = 0; + out_8324840199262111301[41] = 0; + out_8324840199262111301[42] = 0; + out_8324840199262111301[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_8324840199262111301[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_8324840199262111301[45] = 0; + out_8324840199262111301[46] = 0; + out_8324840199262111301[47] = 0; + out_8324840199262111301[48] = 0; + out_8324840199262111301[49] = 0; + out_8324840199262111301[50] = 0; + out_8324840199262111301[51] = 0; + out_8324840199262111301[52] = 0; + out_8324840199262111301[53] = 0; + out_8324840199262111301[54] = 0; + out_8324840199262111301[55] = 0; + out_8324840199262111301[56] = 0; + out_8324840199262111301[57] = 1; + out_8324840199262111301[58] = 0; + out_8324840199262111301[59] = 0; + out_8324840199262111301[60] = 0; + out_8324840199262111301[61] = 0; + out_8324840199262111301[62] = 0; + out_8324840199262111301[63] = 0; + out_8324840199262111301[64] = 0; + out_8324840199262111301[65] = 0; + out_8324840199262111301[66] = dt; + out_8324840199262111301[67] = 0; + out_8324840199262111301[68] = 0; + out_8324840199262111301[69] = 0; + out_8324840199262111301[70] = 0; + out_8324840199262111301[71] = 0; + out_8324840199262111301[72] = 0; + out_8324840199262111301[73] = 0; + out_8324840199262111301[74] = 0; + out_8324840199262111301[75] = 0; + out_8324840199262111301[76] = 1; + out_8324840199262111301[77] = 0; + out_8324840199262111301[78] = 0; + out_8324840199262111301[79] = 0; + out_8324840199262111301[80] = 0; + out_8324840199262111301[81] = 0; + out_8324840199262111301[82] = 0; + out_8324840199262111301[83] = 0; + out_8324840199262111301[84] = 0; + out_8324840199262111301[85] = dt; + out_8324840199262111301[86] = 0; + out_8324840199262111301[87] = 0; + out_8324840199262111301[88] = 0; + out_8324840199262111301[89] = 0; + out_8324840199262111301[90] = 0; + out_8324840199262111301[91] = 0; + out_8324840199262111301[92] = 0; + out_8324840199262111301[93] = 0; + out_8324840199262111301[94] = 0; + out_8324840199262111301[95] = 1; + out_8324840199262111301[96] = 0; + out_8324840199262111301[97] = 0; + out_8324840199262111301[98] = 0; + out_8324840199262111301[99] = 0; + out_8324840199262111301[100] = 0; + out_8324840199262111301[101] = 0; + out_8324840199262111301[102] = 0; + out_8324840199262111301[103] = 0; + out_8324840199262111301[104] = dt; + out_8324840199262111301[105] = 0; + out_8324840199262111301[106] = 0; + out_8324840199262111301[107] = 0; + out_8324840199262111301[108] = 0; + out_8324840199262111301[109] = 0; + out_8324840199262111301[110] = 0; + out_8324840199262111301[111] = 0; + out_8324840199262111301[112] = 0; + out_8324840199262111301[113] = 0; + out_8324840199262111301[114] = 1; + out_8324840199262111301[115] = 0; + out_8324840199262111301[116] = 0; + out_8324840199262111301[117] = 0; + out_8324840199262111301[118] = 0; + out_8324840199262111301[119] = 0; + out_8324840199262111301[120] = 0; + out_8324840199262111301[121] = 0; + out_8324840199262111301[122] = 0; + out_8324840199262111301[123] = 0; + out_8324840199262111301[124] = 0; + out_8324840199262111301[125] = 0; + out_8324840199262111301[126] = 0; + out_8324840199262111301[127] = 0; + out_8324840199262111301[128] = 0; + out_8324840199262111301[129] = 0; + out_8324840199262111301[130] = 0; + out_8324840199262111301[131] = 0; + out_8324840199262111301[132] = 0; + out_8324840199262111301[133] = 1; + out_8324840199262111301[134] = 0; + out_8324840199262111301[135] = 0; + out_8324840199262111301[136] = 0; + out_8324840199262111301[137] = 0; + out_8324840199262111301[138] = 0; + out_8324840199262111301[139] = 0; + out_8324840199262111301[140] = 0; + out_8324840199262111301[141] = 0; + out_8324840199262111301[142] = 0; + out_8324840199262111301[143] = 0; + out_8324840199262111301[144] = 0; + out_8324840199262111301[145] = 0; + out_8324840199262111301[146] = 0; + out_8324840199262111301[147] = 0; + out_8324840199262111301[148] = 0; + out_8324840199262111301[149] = 0; + out_8324840199262111301[150] = 0; + out_8324840199262111301[151] = 0; + out_8324840199262111301[152] = 1; + out_8324840199262111301[153] = 0; + out_8324840199262111301[154] = 0; + out_8324840199262111301[155] = 0; + out_8324840199262111301[156] = 0; + out_8324840199262111301[157] = 0; + out_8324840199262111301[158] = 0; + out_8324840199262111301[159] = 0; + out_8324840199262111301[160] = 0; + out_8324840199262111301[161] = 0; + out_8324840199262111301[162] = 0; + out_8324840199262111301[163] = 0; + out_8324840199262111301[164] = 0; + out_8324840199262111301[165] = 0; + out_8324840199262111301[166] = 0; + out_8324840199262111301[167] = 0; + out_8324840199262111301[168] = 0; + out_8324840199262111301[169] = 0; + out_8324840199262111301[170] = 0; + out_8324840199262111301[171] = 1; + out_8324840199262111301[172] = 0; + out_8324840199262111301[173] = 0; + out_8324840199262111301[174] = 0; + out_8324840199262111301[175] = 0; + out_8324840199262111301[176] = 0; + out_8324840199262111301[177] = 0; + out_8324840199262111301[178] = 0; + out_8324840199262111301[179] = 0; + out_8324840199262111301[180] = 0; + out_8324840199262111301[181] = 0; + out_8324840199262111301[182] = 0; + out_8324840199262111301[183] = 0; + out_8324840199262111301[184] = 0; + out_8324840199262111301[185] = 0; + out_8324840199262111301[186] = 0; + out_8324840199262111301[187] = 0; + out_8324840199262111301[188] = 0; + out_8324840199262111301[189] = 0; + out_8324840199262111301[190] = 1; + out_8324840199262111301[191] = 0; + out_8324840199262111301[192] = 0; + out_8324840199262111301[193] = 0; + out_8324840199262111301[194] = 0; + out_8324840199262111301[195] = 0; + out_8324840199262111301[196] = 0; + out_8324840199262111301[197] = 0; + out_8324840199262111301[198] = 0; + out_8324840199262111301[199] = 0; + out_8324840199262111301[200] = 0; + out_8324840199262111301[201] = 0; + out_8324840199262111301[202] = 0; + out_8324840199262111301[203] = 0; + out_8324840199262111301[204] = 0; + out_8324840199262111301[205] = 0; + out_8324840199262111301[206] = 0; + out_8324840199262111301[207] = 0; + out_8324840199262111301[208] = 0; + out_8324840199262111301[209] = 1; + out_8324840199262111301[210] = 0; + out_8324840199262111301[211] = 0; + out_8324840199262111301[212] = 0; + out_8324840199262111301[213] = 0; + out_8324840199262111301[214] = 0; + out_8324840199262111301[215] = 0; + out_8324840199262111301[216] = 0; + out_8324840199262111301[217] = 0; + out_8324840199262111301[218] = 0; + out_8324840199262111301[219] = 0; + out_8324840199262111301[220] = 0; + out_8324840199262111301[221] = 0; + out_8324840199262111301[222] = 0; + out_8324840199262111301[223] = 0; + out_8324840199262111301[224] = 0; + out_8324840199262111301[225] = 0; + out_8324840199262111301[226] = 0; + out_8324840199262111301[227] = 0; + out_8324840199262111301[228] = 1; + out_8324840199262111301[229] = 0; + out_8324840199262111301[230] = 0; + out_8324840199262111301[231] = 0; + out_8324840199262111301[232] = 0; + out_8324840199262111301[233] = 0; + out_8324840199262111301[234] = 0; + out_8324840199262111301[235] = 0; + out_8324840199262111301[236] = 0; + out_8324840199262111301[237] = 0; + out_8324840199262111301[238] = 0; + out_8324840199262111301[239] = 0; + out_8324840199262111301[240] = 0; + out_8324840199262111301[241] = 0; + out_8324840199262111301[242] = 0; + out_8324840199262111301[243] = 0; + out_8324840199262111301[244] = 0; + out_8324840199262111301[245] = 0; + out_8324840199262111301[246] = 0; + out_8324840199262111301[247] = 1; + out_8324840199262111301[248] = 0; + out_8324840199262111301[249] = 0; + out_8324840199262111301[250] = 0; + out_8324840199262111301[251] = 0; + out_8324840199262111301[252] = 0; + out_8324840199262111301[253] = 0; + out_8324840199262111301[254] = 0; + out_8324840199262111301[255] = 0; + out_8324840199262111301[256] = 0; + out_8324840199262111301[257] = 0; + out_8324840199262111301[258] = 0; + out_8324840199262111301[259] = 0; + out_8324840199262111301[260] = 0; + out_8324840199262111301[261] = 0; + out_8324840199262111301[262] = 0; + out_8324840199262111301[263] = 0; + out_8324840199262111301[264] = 0; + out_8324840199262111301[265] = 0; + out_8324840199262111301[266] = 1; + out_8324840199262111301[267] = 0; + out_8324840199262111301[268] = 0; + out_8324840199262111301[269] = 0; + out_8324840199262111301[270] = 0; + out_8324840199262111301[271] = 0; + out_8324840199262111301[272] = 0; + out_8324840199262111301[273] = 0; + out_8324840199262111301[274] = 0; + out_8324840199262111301[275] = 0; + out_8324840199262111301[276] = 0; + out_8324840199262111301[277] = 0; + out_8324840199262111301[278] = 0; + out_8324840199262111301[279] = 0; + out_8324840199262111301[280] = 0; + out_8324840199262111301[281] = 0; + out_8324840199262111301[282] = 0; + out_8324840199262111301[283] = 0; + out_8324840199262111301[284] = 0; + out_8324840199262111301[285] = 1; + out_8324840199262111301[286] = 0; + out_8324840199262111301[287] = 0; + out_8324840199262111301[288] = 0; + out_8324840199262111301[289] = 0; + out_8324840199262111301[290] = 0; + out_8324840199262111301[291] = 0; + out_8324840199262111301[292] = 0; + out_8324840199262111301[293] = 0; + out_8324840199262111301[294] = 0; + out_8324840199262111301[295] = 0; + out_8324840199262111301[296] = 0; + out_8324840199262111301[297] = 0; + out_8324840199262111301[298] = 0; + out_8324840199262111301[299] = 0; + out_8324840199262111301[300] = 0; + out_8324840199262111301[301] = 0; + out_8324840199262111301[302] = 0; + out_8324840199262111301[303] = 0; + out_8324840199262111301[304] = 1; + out_8324840199262111301[305] = 0; + out_8324840199262111301[306] = 0; + out_8324840199262111301[307] = 0; + out_8324840199262111301[308] = 0; + out_8324840199262111301[309] = 0; + out_8324840199262111301[310] = 0; + out_8324840199262111301[311] = 0; + out_8324840199262111301[312] = 0; + out_8324840199262111301[313] = 0; + out_8324840199262111301[314] = 0; + out_8324840199262111301[315] = 0; + out_8324840199262111301[316] = 0; + out_8324840199262111301[317] = 0; + out_8324840199262111301[318] = 0; + out_8324840199262111301[319] = 0; + out_8324840199262111301[320] = 0; + out_8324840199262111301[321] = 0; + out_8324840199262111301[322] = 0; + out_8324840199262111301[323] = 1; } -void h_4(double *state, double *unused, double *out_1811902591494823997) { - out_1811902591494823997[0] = state[6] + state[9]; - out_1811902591494823997[1] = state[7] + state[10]; - out_1811902591494823997[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2118179578320955915) { + out_2118179578320955915[0] = state[6] + state[9]; + out_2118179578320955915[1] = state[7] + state[10]; + out_2118179578320955915[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_599853683671623371) { - out_599853683671623371[0] = 0; - out_599853683671623371[1] = 0; - out_599853683671623371[2] = 0; - out_599853683671623371[3] = 0; - out_599853683671623371[4] = 0; - out_599853683671623371[5] = 0; - out_599853683671623371[6] = 1; - out_599853683671623371[7] = 0; - out_599853683671623371[8] = 0; - out_599853683671623371[9] = 1; - out_599853683671623371[10] = 0; - out_599853683671623371[11] = 0; - out_599853683671623371[12] = 0; - out_599853683671623371[13] = 0; - out_599853683671623371[14] = 0; - out_599853683671623371[15] = 0; - out_599853683671623371[16] = 0; - out_599853683671623371[17] = 0; - out_599853683671623371[18] = 0; - out_599853683671623371[19] = 0; - out_599853683671623371[20] = 0; - out_599853683671623371[21] = 0; - out_599853683671623371[22] = 0; - out_599853683671623371[23] = 0; - out_599853683671623371[24] = 0; - out_599853683671623371[25] = 1; - out_599853683671623371[26] = 0; - out_599853683671623371[27] = 0; - out_599853683671623371[28] = 1; - out_599853683671623371[29] = 0; - out_599853683671623371[30] = 0; - out_599853683671623371[31] = 0; - out_599853683671623371[32] = 0; - out_599853683671623371[33] = 0; - out_599853683671623371[34] = 0; - out_599853683671623371[35] = 0; - out_599853683671623371[36] = 0; - out_599853683671623371[37] = 0; - out_599853683671623371[38] = 0; - out_599853683671623371[39] = 0; - out_599853683671623371[40] = 0; - out_599853683671623371[41] = 0; - out_599853683671623371[42] = 0; - out_599853683671623371[43] = 0; - out_599853683671623371[44] = 1; - out_599853683671623371[45] = 0; - out_599853683671623371[46] = 0; - out_599853683671623371[47] = 1; - out_599853683671623371[48] = 0; - out_599853683671623371[49] = 0; - out_599853683671623371[50] = 0; - out_599853683671623371[51] = 0; - out_599853683671623371[52] = 0; - out_599853683671623371[53] = 0; +void H_4(double *state, double *unused, double *out_7359977238096771749) { + out_7359977238096771749[0] = 0; + out_7359977238096771749[1] = 0; + out_7359977238096771749[2] = 0; + out_7359977238096771749[3] = 0; + out_7359977238096771749[4] = 0; + out_7359977238096771749[5] = 0; + out_7359977238096771749[6] = 1; + out_7359977238096771749[7] = 0; + out_7359977238096771749[8] = 0; + out_7359977238096771749[9] = 1; + out_7359977238096771749[10] = 0; + out_7359977238096771749[11] = 0; + out_7359977238096771749[12] = 0; + out_7359977238096771749[13] = 0; + out_7359977238096771749[14] = 0; + out_7359977238096771749[15] = 0; + out_7359977238096771749[16] = 0; + out_7359977238096771749[17] = 0; + out_7359977238096771749[18] = 0; + out_7359977238096771749[19] = 0; + out_7359977238096771749[20] = 0; + out_7359977238096771749[21] = 0; + out_7359977238096771749[22] = 0; + out_7359977238096771749[23] = 0; + out_7359977238096771749[24] = 0; + out_7359977238096771749[25] = 1; + out_7359977238096771749[26] = 0; + out_7359977238096771749[27] = 0; + out_7359977238096771749[28] = 1; + out_7359977238096771749[29] = 0; + out_7359977238096771749[30] = 0; + out_7359977238096771749[31] = 0; + out_7359977238096771749[32] = 0; + out_7359977238096771749[33] = 0; + out_7359977238096771749[34] = 0; + out_7359977238096771749[35] = 0; + out_7359977238096771749[36] = 0; + out_7359977238096771749[37] = 0; + out_7359977238096771749[38] = 0; + out_7359977238096771749[39] = 0; + out_7359977238096771749[40] = 0; + out_7359977238096771749[41] = 0; + out_7359977238096771749[42] = 0; + out_7359977238096771749[43] = 0; + out_7359977238096771749[44] = 1; + out_7359977238096771749[45] = 0; + out_7359977238096771749[46] = 0; + out_7359977238096771749[47] = 1; + out_7359977238096771749[48] = 0; + out_7359977238096771749[49] = 0; + out_7359977238096771749[50] = 0; + out_7359977238096771749[51] = 0; + out_7359977238096771749[52] = 0; + out_7359977238096771749[53] = 0; } -void h_10(double *state, double *unused, double *out_8987115705540323441) { - out_8987115705540323441[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_8987115705540323441[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_8987115705540323441[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_863109591849531819) { + out_863109591849531819[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_863109591849531819[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_863109591849531819[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_4430606342081287306) { - out_4430606342081287306[0] = 0; - out_4430606342081287306[1] = 9.8100000000000005*cos(state[1]); - out_4430606342081287306[2] = 0; - out_4430606342081287306[3] = 0; - out_4430606342081287306[4] = -state[8]; - out_4430606342081287306[5] = state[7]; - out_4430606342081287306[6] = 0; - out_4430606342081287306[7] = state[5]; - out_4430606342081287306[8] = -state[4]; - out_4430606342081287306[9] = 0; - out_4430606342081287306[10] = 0; - out_4430606342081287306[11] = 0; - out_4430606342081287306[12] = 1; - out_4430606342081287306[13] = 0; - out_4430606342081287306[14] = 0; - out_4430606342081287306[15] = 1; - out_4430606342081287306[16] = 0; - out_4430606342081287306[17] = 0; - out_4430606342081287306[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4430606342081287306[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4430606342081287306[20] = 0; - out_4430606342081287306[21] = state[8]; - out_4430606342081287306[22] = 0; - out_4430606342081287306[23] = -state[6]; - out_4430606342081287306[24] = -state[5]; - out_4430606342081287306[25] = 0; - out_4430606342081287306[26] = state[3]; - out_4430606342081287306[27] = 0; - out_4430606342081287306[28] = 0; - out_4430606342081287306[29] = 0; - out_4430606342081287306[30] = 0; - out_4430606342081287306[31] = 1; - out_4430606342081287306[32] = 0; - out_4430606342081287306[33] = 0; - out_4430606342081287306[34] = 1; - out_4430606342081287306[35] = 0; - out_4430606342081287306[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4430606342081287306[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4430606342081287306[38] = 0; - out_4430606342081287306[39] = -state[7]; - out_4430606342081287306[40] = state[6]; - out_4430606342081287306[41] = 0; - out_4430606342081287306[42] = state[4]; - out_4430606342081287306[43] = -state[3]; - out_4430606342081287306[44] = 0; - out_4430606342081287306[45] = 0; - out_4430606342081287306[46] = 0; - out_4430606342081287306[47] = 0; - out_4430606342081287306[48] = 0; - out_4430606342081287306[49] = 0; - out_4430606342081287306[50] = 1; - out_4430606342081287306[51] = 0; - out_4430606342081287306[52] = 0; - out_4430606342081287306[53] = 1; +void H_10(double *state, double *unused, double *out_6053481103905099724) { + out_6053481103905099724[0] = 0; + out_6053481103905099724[1] = 9.8100000000000005*cos(state[1]); + out_6053481103905099724[2] = 0; + out_6053481103905099724[3] = 0; + out_6053481103905099724[4] = -state[8]; + out_6053481103905099724[5] = state[7]; + out_6053481103905099724[6] = 0; + out_6053481103905099724[7] = state[5]; + out_6053481103905099724[8] = -state[4]; + out_6053481103905099724[9] = 0; + out_6053481103905099724[10] = 0; + out_6053481103905099724[11] = 0; + out_6053481103905099724[12] = 1; + out_6053481103905099724[13] = 0; + out_6053481103905099724[14] = 0; + out_6053481103905099724[15] = 1; + out_6053481103905099724[16] = 0; + out_6053481103905099724[17] = 0; + out_6053481103905099724[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6053481103905099724[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6053481103905099724[20] = 0; + out_6053481103905099724[21] = state[8]; + out_6053481103905099724[22] = 0; + out_6053481103905099724[23] = -state[6]; + out_6053481103905099724[24] = -state[5]; + out_6053481103905099724[25] = 0; + out_6053481103905099724[26] = state[3]; + out_6053481103905099724[27] = 0; + out_6053481103905099724[28] = 0; + out_6053481103905099724[29] = 0; + out_6053481103905099724[30] = 0; + out_6053481103905099724[31] = 1; + out_6053481103905099724[32] = 0; + out_6053481103905099724[33] = 0; + out_6053481103905099724[34] = 1; + out_6053481103905099724[35] = 0; + out_6053481103905099724[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6053481103905099724[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6053481103905099724[38] = 0; + out_6053481103905099724[39] = -state[7]; + out_6053481103905099724[40] = state[6]; + out_6053481103905099724[41] = 0; + out_6053481103905099724[42] = state[4]; + out_6053481103905099724[43] = -state[3]; + out_6053481103905099724[44] = 0; + out_6053481103905099724[45] = 0; + out_6053481103905099724[46] = 0; + out_6053481103905099724[47] = 0; + out_6053481103905099724[48] = 0; + out_6053481103905099724[49] = 0; + out_6053481103905099724[50] = 1; + out_6053481103905099724[51] = 0; + out_6053481103905099724[52] = 0; + out_6053481103905099724[53] = 1; } -void h_13(double *state, double *unused, double *out_745002374354712655) { - out_745002374354712655[0] = state[3]; - out_745002374354712655[1] = state[4]; - out_745002374354712655[2] = state[5]; +void h_13(double *state, double *unused, double *out_8506504787708500859) { + out_8506504787708500859[0] = state[3]; + out_8506504787708500859[1] = state[4]; + out_8506504787708500859[2] = state[5]; } -void H_13(double *state, double *unused, double *out_4433609146974147395) { - out_4433609146974147395[0] = 0; - out_4433609146974147395[1] = 0; - out_4433609146974147395[2] = 0; - out_4433609146974147395[3] = 1; - out_4433609146974147395[4] = 0; - out_4433609146974147395[5] = 0; - out_4433609146974147395[6] = 0; - out_4433609146974147395[7] = 0; - out_4433609146974147395[8] = 0; - out_4433609146974147395[9] = 0; - out_4433609146974147395[10] = 0; - out_4433609146974147395[11] = 0; - out_4433609146974147395[12] = 0; - out_4433609146974147395[13] = 0; - out_4433609146974147395[14] = 0; - out_4433609146974147395[15] = 0; - out_4433609146974147395[16] = 0; - out_4433609146974147395[17] = 0; - out_4433609146974147395[18] = 0; - out_4433609146974147395[19] = 0; - out_4433609146974147395[20] = 0; - out_4433609146974147395[21] = 0; - out_4433609146974147395[22] = 1; - out_4433609146974147395[23] = 0; - out_4433609146974147395[24] = 0; - out_4433609146974147395[25] = 0; - out_4433609146974147395[26] = 0; - out_4433609146974147395[27] = 0; - out_4433609146974147395[28] = 0; - out_4433609146974147395[29] = 0; - out_4433609146974147395[30] = 0; - out_4433609146974147395[31] = 0; - out_4433609146974147395[32] = 0; - out_4433609146974147395[33] = 0; - out_4433609146974147395[34] = 0; - out_4433609146974147395[35] = 0; - out_4433609146974147395[36] = 0; - out_4433609146974147395[37] = 0; - out_4433609146974147395[38] = 0; - out_4433609146974147395[39] = 0; - out_4433609146974147395[40] = 0; - out_4433609146974147395[41] = 1; - out_4433609146974147395[42] = 0; - out_4433609146974147395[43] = 0; - out_4433609146974147395[44] = 0; - out_4433609146974147395[45] = 0; - out_4433609146974147395[46] = 0; - out_4433609146974147395[47] = 0; - out_4433609146974147395[48] = 0; - out_4433609146974147395[49] = 0; - out_4433609146974147395[50] = 0; - out_4433609146974147395[51] = 0; - out_4433609146974147395[52] = 0; - out_4433609146974147395[53] = 0; +void H_13(double *state, double *unused, double *out_7874493010280447066) { + out_7874493010280447066[0] = 0; + out_7874493010280447066[1] = 0; + out_7874493010280447066[2] = 0; + out_7874493010280447066[3] = 1; + out_7874493010280447066[4] = 0; + out_7874493010280447066[5] = 0; + out_7874493010280447066[6] = 0; + out_7874493010280447066[7] = 0; + out_7874493010280447066[8] = 0; + out_7874493010280447066[9] = 0; + out_7874493010280447066[10] = 0; + out_7874493010280447066[11] = 0; + out_7874493010280447066[12] = 0; + out_7874493010280447066[13] = 0; + out_7874493010280447066[14] = 0; + out_7874493010280447066[15] = 0; + out_7874493010280447066[16] = 0; + out_7874493010280447066[17] = 0; + out_7874493010280447066[18] = 0; + out_7874493010280447066[19] = 0; + out_7874493010280447066[20] = 0; + out_7874493010280447066[21] = 0; + out_7874493010280447066[22] = 1; + out_7874493010280447066[23] = 0; + out_7874493010280447066[24] = 0; + out_7874493010280447066[25] = 0; + out_7874493010280447066[26] = 0; + out_7874493010280447066[27] = 0; + out_7874493010280447066[28] = 0; + out_7874493010280447066[29] = 0; + out_7874493010280447066[30] = 0; + out_7874493010280447066[31] = 0; + out_7874493010280447066[32] = 0; + out_7874493010280447066[33] = 0; + out_7874493010280447066[34] = 0; + out_7874493010280447066[35] = 0; + out_7874493010280447066[36] = 0; + out_7874493010280447066[37] = 0; + out_7874493010280447066[38] = 0; + out_7874493010280447066[39] = 0; + out_7874493010280447066[40] = 0; + out_7874493010280447066[41] = 1; + out_7874493010280447066[42] = 0; + out_7874493010280447066[43] = 0; + out_7874493010280447066[44] = 0; + out_7874493010280447066[45] = 0; + out_7874493010280447066[46] = 0; + out_7874493010280447066[47] = 0; + out_7874493010280447066[48] = 0; + out_7874493010280447066[49] = 0; + out_7874493010280447066[50] = 0; + out_7874493010280447066[51] = 0; + out_7874493010280447066[52] = 0; + out_7874493010280447066[53] = 0; } -void h_14(double *state, double *unused, double *out_7578055683598024511) { - out_7578055683598024511[0] = state[6]; - out_7578055683598024511[1] = state[7]; - out_7578055683598024511[2] = state[8]; +void h_14(double *state, double *unused, double *out_6030639671543279411) { + out_6030639671543279411[0] = state[6]; + out_6030639671543279411[1] = state[7]; + out_6030639671543279411[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3682642115966995667) { - out_3682642115966995667[0] = 0; - out_3682642115966995667[1] = 0; - out_3682642115966995667[2] = 0; - out_3682642115966995667[3] = 0; - out_3682642115966995667[4] = 0; - out_3682642115966995667[5] = 0; - out_3682642115966995667[6] = 1; - out_3682642115966995667[7] = 0; - out_3682642115966995667[8] = 0; - out_3682642115966995667[9] = 0; - out_3682642115966995667[10] = 0; - out_3682642115966995667[11] = 0; - out_3682642115966995667[12] = 0; - out_3682642115966995667[13] = 0; - out_3682642115966995667[14] = 0; - out_3682642115966995667[15] = 0; - out_3682642115966995667[16] = 0; - out_3682642115966995667[17] = 0; - out_3682642115966995667[18] = 0; - out_3682642115966995667[19] = 0; - out_3682642115966995667[20] = 0; - out_3682642115966995667[21] = 0; - out_3682642115966995667[22] = 0; - out_3682642115966995667[23] = 0; - out_3682642115966995667[24] = 0; - out_3682642115966995667[25] = 1; - out_3682642115966995667[26] = 0; - out_3682642115966995667[27] = 0; - out_3682642115966995667[28] = 0; - out_3682642115966995667[29] = 0; - out_3682642115966995667[30] = 0; - out_3682642115966995667[31] = 0; - out_3682642115966995667[32] = 0; - out_3682642115966995667[33] = 0; - out_3682642115966995667[34] = 0; - out_3682642115966995667[35] = 0; - out_3682642115966995667[36] = 0; - out_3682642115966995667[37] = 0; - out_3682642115966995667[38] = 0; - out_3682642115966995667[39] = 0; - out_3682642115966995667[40] = 0; - out_3682642115966995667[41] = 0; - out_3682642115966995667[42] = 0; - out_3682642115966995667[43] = 0; - out_3682642115966995667[44] = 1; - out_3682642115966995667[45] = 0; - out_3682642115966995667[46] = 0; - out_3682642115966995667[47] = 0; - out_3682642115966995667[48] = 0; - out_3682642115966995667[49] = 0; - out_3682642115966995667[50] = 0; - out_3682642115966995667[51] = 0; - out_3682642115966995667[52] = 0; - out_3682642115966995667[53] = 0; +void H_14(double *state, double *unused, double *out_7123525979273295338) { + out_7123525979273295338[0] = 0; + out_7123525979273295338[1] = 0; + out_7123525979273295338[2] = 0; + out_7123525979273295338[3] = 0; + out_7123525979273295338[4] = 0; + out_7123525979273295338[5] = 0; + out_7123525979273295338[6] = 1; + out_7123525979273295338[7] = 0; + out_7123525979273295338[8] = 0; + out_7123525979273295338[9] = 0; + out_7123525979273295338[10] = 0; + out_7123525979273295338[11] = 0; + out_7123525979273295338[12] = 0; + out_7123525979273295338[13] = 0; + out_7123525979273295338[14] = 0; + out_7123525979273295338[15] = 0; + out_7123525979273295338[16] = 0; + out_7123525979273295338[17] = 0; + out_7123525979273295338[18] = 0; + out_7123525979273295338[19] = 0; + out_7123525979273295338[20] = 0; + out_7123525979273295338[21] = 0; + out_7123525979273295338[22] = 0; + out_7123525979273295338[23] = 0; + out_7123525979273295338[24] = 0; + out_7123525979273295338[25] = 1; + out_7123525979273295338[26] = 0; + out_7123525979273295338[27] = 0; + out_7123525979273295338[28] = 0; + out_7123525979273295338[29] = 0; + out_7123525979273295338[30] = 0; + out_7123525979273295338[31] = 0; + out_7123525979273295338[32] = 0; + out_7123525979273295338[33] = 0; + out_7123525979273295338[34] = 0; + out_7123525979273295338[35] = 0; + out_7123525979273295338[36] = 0; + out_7123525979273295338[37] = 0; + out_7123525979273295338[38] = 0; + out_7123525979273295338[39] = 0; + out_7123525979273295338[40] = 0; + out_7123525979273295338[41] = 0; + out_7123525979273295338[42] = 0; + out_7123525979273295338[43] = 0; + out_7123525979273295338[44] = 1; + out_7123525979273295338[45] = 0; + out_7123525979273295338[46] = 0; + out_7123525979273295338[47] = 0; + out_7123525979273295338[48] = 0; + out_7123525979273295338[49] = 0; + out_7123525979273295338[50] = 0; + out_7123525979273295338[51] = 0; + out_7123525979273295338[52] = 0; + out_7123525979273295338[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_3059462324026594541) { - err_fun(nom_x, delta_x, out_3059462324026594541); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8334628911363265031) { + err_fun(nom_x, delta_x, out_8334628911363265031); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7293350812574481008) { - inv_err_fun(nom_x, true_x, out_7293350812574481008); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963) { + inv_err_fun(nom_x, true_x, out_6557509511038369963); } -void pose_H_mod_fun(double *state, double *out_1219845042234673490) { - H_mod_fun(state, out_1219845042234673490); +void pose_H_mod_fun(double *state, double *out_2207458853057691014) { + H_mod_fun(state, out_2207458853057691014); } -void pose_f_fun(double *state, double dt, double *out_6142826586467809321) { - f_fun(state, dt, out_6142826586467809321); +void pose_f_fun(double *state, double dt, double *out_7635303320387631810) { + f_fun(state, dt, out_7635303320387631810); } -void pose_F_fun(double *state, double dt, double *out_8396239383595830029) { - F_fun(state, dt, out_8396239383595830029); +void pose_F_fun(double *state, double dt, double *out_8324840199262111301) { + F_fun(state, dt, out_8324840199262111301); } -void pose_h_4(double *state, double *unused, double *out_1811902591494823997) { - h_4(state, unused, out_1811902591494823997); +void pose_h_4(double *state, double *unused, double *out_2118179578320955915) { + h_4(state, unused, out_2118179578320955915); } -void pose_H_4(double *state, double *unused, double *out_599853683671623371) { - H_4(state, unused, out_599853683671623371); +void pose_H_4(double *state, double *unused, double *out_7359977238096771749) { + H_4(state, unused, out_7359977238096771749); } -void pose_h_10(double *state, double *unused, double *out_8987115705540323441) { - h_10(state, unused, out_8987115705540323441); +void pose_h_10(double *state, double *unused, double *out_863109591849531819) { + h_10(state, unused, out_863109591849531819); } -void pose_H_10(double *state, double *unused, double *out_4430606342081287306) { - H_10(state, unused, out_4430606342081287306); +void pose_H_10(double *state, double *unused, double *out_6053481103905099724) { + H_10(state, unused, out_6053481103905099724); } -void pose_h_13(double *state, double *unused, double *out_745002374354712655) { - h_13(state, unused, out_745002374354712655); +void pose_h_13(double *state, double *unused, double *out_8506504787708500859) { + h_13(state, unused, out_8506504787708500859); } -void pose_H_13(double *state, double *unused, double *out_4433609146974147395) { - H_13(state, unused, out_4433609146974147395); +void pose_H_13(double *state, double *unused, double *out_7874493010280447066) { + H_13(state, unused, out_7874493010280447066); } -void pose_h_14(double *state, double *unused, double *out_7578055683598024511) { - h_14(state, unused, out_7578055683598024511); +void pose_h_14(double *state, double *unused, double *out_6030639671543279411) { + h_14(state, unused, out_6030639671543279411); } -void pose_H_14(double *state, double *unused, double *out_3682642115966995667) { - H_14(state, unused, out_3682642115966995667); +void pose_H_14(double *state, double *unused, double *out_7123525979273295338) { + H_14(state, unused, out_7123525979273295338); } 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 3123faeb0..dd9184a47 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_3059462324026594541); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7293350812574481008); -void pose_H_mod_fun(double *state, double *out_1219845042234673490); -void pose_f_fun(double *state, double dt, double *out_6142826586467809321); -void pose_F_fun(double *state, double dt, double *out_8396239383595830029); -void pose_h_4(double *state, double *unused, double *out_1811902591494823997); -void pose_H_4(double *state, double *unused, double *out_599853683671623371); -void pose_h_10(double *state, double *unused, double *out_8987115705540323441); -void pose_H_10(double *state, double *unused, double *out_4430606342081287306); -void pose_h_13(double *state, double *unused, double *out_745002374354712655); -void pose_H_13(double *state, double *unused, double *out_4433609146974147395); -void pose_h_14(double *state, double *unused, double *out_7578055683598024511); -void pose_H_14(double *state, double *unused, double *out_3682642115966995667); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8334628911363265031); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6557509511038369963); +void pose_H_mod_fun(double *state, double *out_2207458853057691014); +void pose_f_fun(double *state, double dt, double *out_7635303320387631810); +void pose_F_fun(double *state, double dt, double *out_8324840199262111301); +void pose_h_4(double *state, double *unused, double *out_2118179578320955915); +void pose_H_4(double *state, double *unused, double *out_7359977238096771749); +void pose_h_10(double *state, double *unused, double *out_863109591849531819); +void pose_H_10(double *state, double *unused, double *out_6053481103905099724); +void pose_h_13(double *state, double *unused, double *out_8506504787708500859); +void pose_H_13(double *state, double *unused, double *out_7874493010280447066); +void pose_h_14(double *state, double *unused, double *out_6030639671543279411); +void pose_H_14(double *state, double *unused, double *out_7123525979273295338); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so new file mode 100755 index 000000000..edda0400c Binary files /dev/null and b/selfdrive/modeld/models/commonmodel_pyx.so differ