From dfd614c31f7dd07834c8f191e90e2dfa850fd721 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Fri, 29 May 2026 12:00:14 -0500 Subject: [PATCH] build --- panda/board/obj/body_h7.bin.signed | Bin 89744 -> 89744 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 89608 -> 89608 bytes panda/board/obj/body_h7/main.elf | Bin 403176 -> 403176 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 81184 -> 81184 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 81048 -> 81048 bytes panda/board/obj/panda/main.elf | Bin 366384 -> 366384 bytes panda/board/obj/panda_h7.bin.signed | Bin 97768 -> 97768 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 97632 -> 97632 bytes panda/board/obj/panda_h7/main.elf | Bin 446340 -> 446340 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 97704 -> 97704 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 97568 -> 97568 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 446384 -> 446384 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 91728 -> 91728 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 91592 -> 91592 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 407024 -> 407024 bytes panda/board/obj/panda_remote.bin.signed | Bin 81144 -> 81144 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 81008 -> 81008 bytes panda/board/obj/panda_remote/main.elf | Bin 366552 -> 366552 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/ui/ui | Bin 4409904 -> 4409904 bytes 37 files changed, 1347 insertions(+), 1347 deletions(-) diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 5f31d0433f9afea0ff72872e30410525853dac89..b75b6ac5d511e57219780cb6bbf5374000da87ae 100644 GIT binary patch delta 153 zcmV;K0A~M?y#nlH Hg#-clJ>E+k delta 153 zcmV;K0A~M?y#iSOIIuYWt(EjHFBM>tIF*6XeZ2xnC^-U-M@#Ggx delta 43 vcmaEHR^r83i49*aaG0AW8K$HrrZxY$(EjHFBM>tIF*6XeZ2xnC^-U-M2iq7F diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index d211448a7ffdb18b204a918dc1b4cfa43c129447..5b4569ca9926f3dd37c92b85b82ed394dafeff12 100755 GIT binary patch delta 21 ccmaEo^dxD6s}6^$fssLqv9bAPUmbB)09$be#sB~S delta 21 ccmaEo^dxD6s}6^`X_8?|YGT@EUmbB)0AbAsjQ{`u diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index a138772ca93288afa15514d53aa3451f15e8bb91..687a4da6f986ab1a88ef1171233c15b4addd7392 100755 GIT binary patch delta 34 qcmdlJwkK?ZubQB#fssLqv9Yp(pJ3|A*Zo9oo}u>b(U%nG*v delta 34 qcmdlJwkK?ZubQB_X_8?|YGRtMi>p(pJ3|A*Zo9oo}u>b(lLkoTY diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 951baa2dd55d3d9e788e133a76c2c3171ec68661..581754d8769bb8cc18172e3306aaa5af1048ee6f 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9Hs_F1}VnI=9?!vpJxRCZq5jf delta 23 fcmaDbiSfZC#tog$9OkA;hAF9uX`3fHpJxRCbt(x} diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 951baa2dd55d3d9e788e133a76c2c3171ec68661..581754d8769bb8cc18172e3306aaa5af1048ee6f 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9Hs_F1}VnI=9?!vpJxRCZq5jf delta 23 fcmaDbiSfZC#tog$9OkA;hAF9uX`3fHpJxRCbt(x} diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index f2893d11696cb9988d7695bcdfcb10b39080efd3..c14670623e1e0cf84eac9fcfe30021287e39e415 100755 GIT binary patch delta 21 ccmZq4ZOPrR*MP&+z{nuQ*w}pYQG@-g09gwMyZ`_I delta 21 ccmZq4ZOPrR*MP&^G|4a}H8E}TQG@-g0AFVag8%>k diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index a138772ca93288afa15514d53aa3451f15e8bb91..687a4da6f986ab1a88ef1171233c15b4addd7392 100755 GIT binary patch delta 34 qcmdlJwkK?ZubQB#fssLqv9Yp(pJ3|A*Zo9oo}u>b(U%nG*v delta 34 qcmdlJwkK?ZubQB_X_8?|YGRtMi>p(pJ3|A*Zo9oo}u>b(lLkoTY diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 2ab19458a..d323c24e5 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-75b1deaf-DEBUG"; +const uint8_t gitversion[19] = "DEV-5020d337-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index c000b33f2b4b079921a24012567971962f94cae7..6fa72d1128b8c515f2717784e7a65d49d05f2541 100644 GIT binary patch delta 153 zcmV;K0A~N7`UIf*1h71?2sJP=Fk~|`H?u^rT#SD}9R>=MMW0&1j_w4?PM#SevRw7?tiZ79eDfn@tif#&V!s6>l_<6@pr8~m?@j=#7`e!_u?(y z69r!YNc>7R2hpo;h1*Rg8NA6MxSg5p+vYS6U{2kzKhXI< H+@%2})#FN- delta 153 zcmV;K0A~N7`UIf*1h71?2sbriF=S<7X0t@FT#SFSnqX_l@b)=!+0*<80B^eZuXj^~ z^mZFOEKXXDD1YC+W-*6_SY)gu;@yFat^8>^7w_p#W$FiE3v;q#bDT!3N#RwXyyk6rzz-l`~$6W)#u2<^I=-F1Js7Z0Atk{tso;twKLV H;^YA=wDnA1 diff --git a/panda/board/obj/panda/bootstub.elf b/panda/board/obj/panda/bootstub.elf index 7dc5b351afbff3b0c607cbae8b1ab43f98175ea6..0d3148b7d7e7e06390a79f877466a646e19652e1 100755 GIT binary patch delta 40 wcmbO+nQg{owhg{!f~E#W1}VnI=DIGfPND7$4GfbfnkqEcnQgB#W0VR80R5{B3;+NC delta 40 wcmbO+nQg{owhg{!g65`4hAF9uX}T`1PND7$4GfbfnkqEcnQgB#W0VR801-_L(*OVf diff --git a/panda/board/obj/panda/main.bin b/panda/board/obj/panda/main.bin index 20b1dba04483c3955126ed76b47d3e096aa638db..0acf1716dd151602583f4494d64bc3aaced4032e 100755 GIT binary patch delta 23 fcmbR7lV!$FmJK!=I7|(U3{s4Z%{RMj2A+o2^b~(`Qa)1$tnShviyUPKVH`f41PY~Mx diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 249a83673112aa26fed96e3ecd896c83844e242d..077dfee0357045b16b930d80ceffc9f0a536bab1 100644 GIT binary patch delta 153 zcmV;K0A~N_`vvIx1+YNf2sJP=Fk~|`H?v6HAfSJo->ivzK?t0xU7b$FRilmD9-YPz zE(P;?YwUmNhByXNop{M@D&h-Cv(t$)%!+2%;{&ZeAys|i(TR>@b;%{kdkIu!?(p7_-|RG|68*rlr2GW zW)xM^?HNy`gZ54^>wVZpf*I%4qK@IKZ!YWq+>NIAfZu*QW;gRvGy8+b0GyZl4&;#Lfr+wrC1z delta 31 ncmbQSl5@sN&JCTx9OkA;hAF9uY0VRZ+b0GyZl4&;#Lfr+!u$&` diff --git a/panda/board/obj/panda_h7/main.bin 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23bc91172914f73d6ebaacaa72bb2356310856d1..9e59962092120a1bf17d3c3f5ffbac4aa4c2d93c 100755 GIT binary patch delta 40 wcmZ25nQg&jwhg{!f~E#W1}VnI=DIGfPND7$4GfbfnkqEcnQgB#V^j(T001%!Bme*a delta 40 wcmZ25nQg&jwhg{!g65`4hAF9uX}T`1PND7$4GfbfnkqEcnQgB#V^j(T029Rw>i_@% diff --git a/panda/board/obj/panda_remote/main.bin b/panda/board/obj/panda_remote/main.bin index 2172e9ccb4b002a69e6dc22fb83b681dcde33f2a..253a201c92c7756ec63693a6049b7f6b54ddc13a 100755 GIT binary patch delta 23 fcmezHgXO~ymJK2sI7|(U3{s4Z%{R+z2BX&2zI7|(U3{s4Z&6{Now96b|1Y#y2X5KDyfMw5h05K&GM*si- delta 39 scmcbyUhKwtu?->zILu9x3{z4Q)0$-tw96b|1Y#y2X5KDyfMw5h07LN*4gdfE diff --git a/panda/board/obj/version b/panda/board/obj/version index caa24c9c8..a3f0f141e 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-75b1deaf-DEBUG \ No newline at end of file +DEV-5020d337-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 8fa2168b1..2e13eb691 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_7214711627163091402) { - out_7214711627163091402[0] = delta_x[0] + nom_x[0]; - out_7214711627163091402[1] = delta_x[1] + nom_x[1]; - out_7214711627163091402[2] = delta_x[2] + nom_x[2]; - out_7214711627163091402[3] = delta_x[3] + nom_x[3]; - out_7214711627163091402[4] = delta_x[4] + nom_x[4]; - out_7214711627163091402[5] = delta_x[5] + nom_x[5]; - out_7214711627163091402[6] = delta_x[6] + nom_x[6]; - out_7214711627163091402[7] = delta_x[7] + nom_x[7]; - out_7214711627163091402[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2814030462933274886) { + out_2814030462933274886[0] = delta_x[0] + nom_x[0]; + out_2814030462933274886[1] = delta_x[1] + nom_x[1]; + out_2814030462933274886[2] = delta_x[2] + nom_x[2]; + out_2814030462933274886[3] = delta_x[3] + nom_x[3]; + out_2814030462933274886[4] = delta_x[4] + nom_x[4]; + out_2814030462933274886[5] = delta_x[5] + nom_x[5]; + out_2814030462933274886[6] = delta_x[6] + nom_x[6]; + out_2814030462933274886[7] = delta_x[7] + nom_x[7]; + out_2814030462933274886[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_911828672798028438) { - out_911828672798028438[0] = -nom_x[0] + true_x[0]; - out_911828672798028438[1] = -nom_x[1] + true_x[1]; - out_911828672798028438[2] = -nom_x[2] + true_x[2]; - out_911828672798028438[3] = -nom_x[3] + true_x[3]; - out_911828672798028438[4] = -nom_x[4] + true_x[4]; - out_911828672798028438[5] = -nom_x[5] + true_x[5]; - out_911828672798028438[6] = -nom_x[6] + true_x[6]; - out_911828672798028438[7] = -nom_x[7] + true_x[7]; - out_911828672798028438[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1640667606358073333) { + out_1640667606358073333[0] = -nom_x[0] + true_x[0]; + out_1640667606358073333[1] = -nom_x[1] + true_x[1]; + out_1640667606358073333[2] = -nom_x[2] + true_x[2]; + out_1640667606358073333[3] = -nom_x[3] + true_x[3]; + out_1640667606358073333[4] = -nom_x[4] + true_x[4]; + out_1640667606358073333[5] = -nom_x[5] + true_x[5]; + out_1640667606358073333[6] = -nom_x[6] + true_x[6]; + out_1640667606358073333[7] = -nom_x[7] + true_x[7]; + out_1640667606358073333[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_149552472482575511) { - out_149552472482575511[0] = 1.0; - out_149552472482575511[1] = 0.0; - out_149552472482575511[2] = 0.0; - out_149552472482575511[3] = 0.0; - out_149552472482575511[4] = 0.0; - out_149552472482575511[5] = 0.0; - out_149552472482575511[6] = 0.0; - out_149552472482575511[7] = 0.0; - out_149552472482575511[8] = 0.0; - out_149552472482575511[9] = 0.0; - out_149552472482575511[10] = 1.0; - out_149552472482575511[11] = 0.0; - out_149552472482575511[12] = 0.0; - out_149552472482575511[13] = 0.0; - out_149552472482575511[14] = 0.0; - out_149552472482575511[15] = 0.0; - out_149552472482575511[16] = 0.0; - out_149552472482575511[17] = 0.0; - out_149552472482575511[18] = 0.0; - out_149552472482575511[19] = 0.0; - out_149552472482575511[20] = 1.0; - out_149552472482575511[21] = 0.0; - out_149552472482575511[22] = 0.0; - out_149552472482575511[23] = 0.0; - out_149552472482575511[24] = 0.0; - out_149552472482575511[25] = 0.0; - out_149552472482575511[26] = 0.0; - out_149552472482575511[27] = 0.0; - out_149552472482575511[28] = 0.0; - out_149552472482575511[29] = 0.0; - out_149552472482575511[30] = 1.0; - out_149552472482575511[31] = 0.0; - out_149552472482575511[32] = 0.0; - out_149552472482575511[33] = 0.0; - out_149552472482575511[34] = 0.0; - out_149552472482575511[35] = 0.0; - out_149552472482575511[36] = 0.0; - out_149552472482575511[37] = 0.0; - out_149552472482575511[38] = 0.0; - out_149552472482575511[39] = 0.0; - out_149552472482575511[40] = 1.0; - out_149552472482575511[41] = 0.0; - out_149552472482575511[42] = 0.0; - out_149552472482575511[43] = 0.0; - out_149552472482575511[44] = 0.0; - out_149552472482575511[45] = 0.0; - out_149552472482575511[46] = 0.0; - out_149552472482575511[47] = 0.0; - out_149552472482575511[48] = 0.0; - out_149552472482575511[49] = 0.0; - out_149552472482575511[50] = 1.0; - out_149552472482575511[51] = 0.0; - out_149552472482575511[52] = 0.0; - out_149552472482575511[53] = 0.0; - out_149552472482575511[54] = 0.0; - out_149552472482575511[55] = 0.0; - out_149552472482575511[56] = 0.0; - out_149552472482575511[57] = 0.0; - out_149552472482575511[58] = 0.0; - out_149552472482575511[59] = 0.0; - out_149552472482575511[60] = 1.0; - out_149552472482575511[61] = 0.0; - out_149552472482575511[62] = 0.0; - out_149552472482575511[63] = 0.0; - out_149552472482575511[64] = 0.0; - out_149552472482575511[65] = 0.0; - out_149552472482575511[66] = 0.0; - out_149552472482575511[67] = 0.0; - out_149552472482575511[68] = 0.0; - out_149552472482575511[69] = 0.0; - out_149552472482575511[70] = 1.0; - out_149552472482575511[71] = 0.0; - out_149552472482575511[72] = 0.0; - out_149552472482575511[73] = 0.0; - out_149552472482575511[74] = 0.0; - out_149552472482575511[75] = 0.0; - out_149552472482575511[76] = 0.0; - out_149552472482575511[77] = 0.0; - out_149552472482575511[78] = 0.0; - out_149552472482575511[79] = 0.0; - out_149552472482575511[80] = 1.0; +void H_mod_fun(double *state, double *out_1064503278714903732) { + out_1064503278714903732[0] = 1.0; + out_1064503278714903732[1] = 0.0; + out_1064503278714903732[2] = 0.0; + out_1064503278714903732[3] = 0.0; + out_1064503278714903732[4] = 0.0; + out_1064503278714903732[5] = 0.0; + out_1064503278714903732[6] = 0.0; + out_1064503278714903732[7] = 0.0; + out_1064503278714903732[8] = 0.0; + out_1064503278714903732[9] = 0.0; + out_1064503278714903732[10] = 1.0; + out_1064503278714903732[11] = 0.0; + out_1064503278714903732[12] = 0.0; + out_1064503278714903732[13] = 0.0; + out_1064503278714903732[14] = 0.0; + out_1064503278714903732[15] = 0.0; + out_1064503278714903732[16] = 0.0; + out_1064503278714903732[17] = 0.0; + out_1064503278714903732[18] = 0.0; + out_1064503278714903732[19] = 0.0; + out_1064503278714903732[20] = 1.0; + out_1064503278714903732[21] = 0.0; + out_1064503278714903732[22] = 0.0; + out_1064503278714903732[23] = 0.0; + out_1064503278714903732[24] = 0.0; + out_1064503278714903732[25] = 0.0; + out_1064503278714903732[26] = 0.0; + out_1064503278714903732[27] = 0.0; + out_1064503278714903732[28] = 0.0; + out_1064503278714903732[29] = 0.0; + out_1064503278714903732[30] = 1.0; + out_1064503278714903732[31] = 0.0; + out_1064503278714903732[32] = 0.0; + out_1064503278714903732[33] = 0.0; + out_1064503278714903732[34] = 0.0; + out_1064503278714903732[35] = 0.0; + out_1064503278714903732[36] = 0.0; + out_1064503278714903732[37] = 0.0; + out_1064503278714903732[38] = 0.0; + out_1064503278714903732[39] = 0.0; + out_1064503278714903732[40] = 1.0; + out_1064503278714903732[41] = 0.0; + out_1064503278714903732[42] = 0.0; + out_1064503278714903732[43] = 0.0; + out_1064503278714903732[44] = 0.0; + out_1064503278714903732[45] = 0.0; + out_1064503278714903732[46] = 0.0; + out_1064503278714903732[47] = 0.0; + out_1064503278714903732[48] = 0.0; + out_1064503278714903732[49] = 0.0; + out_1064503278714903732[50] = 1.0; + out_1064503278714903732[51] = 0.0; + out_1064503278714903732[52] = 0.0; + out_1064503278714903732[53] = 0.0; + out_1064503278714903732[54] = 0.0; + out_1064503278714903732[55] = 0.0; + out_1064503278714903732[56] = 0.0; + out_1064503278714903732[57] = 0.0; + out_1064503278714903732[58] = 0.0; + out_1064503278714903732[59] = 0.0; + out_1064503278714903732[60] = 1.0; + out_1064503278714903732[61] = 0.0; + out_1064503278714903732[62] = 0.0; + out_1064503278714903732[63] = 0.0; + out_1064503278714903732[64] = 0.0; + out_1064503278714903732[65] = 0.0; + out_1064503278714903732[66] = 0.0; + out_1064503278714903732[67] = 0.0; + out_1064503278714903732[68] = 0.0; + out_1064503278714903732[69] = 0.0; + out_1064503278714903732[70] = 1.0; + out_1064503278714903732[71] = 0.0; + out_1064503278714903732[72] = 0.0; + out_1064503278714903732[73] = 0.0; + out_1064503278714903732[74] = 0.0; + out_1064503278714903732[75] = 0.0; + out_1064503278714903732[76] = 0.0; + out_1064503278714903732[77] = 0.0; + out_1064503278714903732[78] = 0.0; + out_1064503278714903732[79] = 0.0; + out_1064503278714903732[80] = 1.0; } -void f_fun(double *state, double dt, double *out_4547528931834134293) { - out_4547528931834134293[0] = state[0]; - out_4547528931834134293[1] = state[1]; - out_4547528931834134293[2] = state[2]; - out_4547528931834134293[3] = state[3]; - out_4547528931834134293[4] = state[4]; - out_4547528931834134293[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_4547528931834134293[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_4547528931834134293[7] = state[7]; - out_4547528931834134293[8] = state[8]; +void f_fun(double *state, double dt, double *out_4383566153016226252) { + out_4383566153016226252[0] = state[0]; + out_4383566153016226252[1] = state[1]; + out_4383566153016226252[2] = state[2]; + out_4383566153016226252[3] = state[3]; + out_4383566153016226252[4] = state[4]; + out_4383566153016226252[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_4383566153016226252[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_4383566153016226252[7] = state[7]; + out_4383566153016226252[8] = state[8]; } -void F_fun(double *state, double dt, double *out_3560058468708809121) { - out_3560058468708809121[0] = 1; - out_3560058468708809121[1] = 0; - out_3560058468708809121[2] = 0; - out_3560058468708809121[3] = 0; - out_3560058468708809121[4] = 0; - out_3560058468708809121[5] = 0; - out_3560058468708809121[6] = 0; - out_3560058468708809121[7] = 0; - out_3560058468708809121[8] = 0; - out_3560058468708809121[9] = 0; - out_3560058468708809121[10] = 1; - out_3560058468708809121[11] = 0; - out_3560058468708809121[12] = 0; - out_3560058468708809121[13] = 0; - out_3560058468708809121[14] = 0; - out_3560058468708809121[15] = 0; - out_3560058468708809121[16] = 0; - out_3560058468708809121[17] = 0; - out_3560058468708809121[18] = 0; - out_3560058468708809121[19] = 0; - out_3560058468708809121[20] = 1; - out_3560058468708809121[21] = 0; - out_3560058468708809121[22] = 0; - out_3560058468708809121[23] = 0; - out_3560058468708809121[24] = 0; - out_3560058468708809121[25] = 0; - out_3560058468708809121[26] = 0; - out_3560058468708809121[27] = 0; - out_3560058468708809121[28] = 0; - out_3560058468708809121[29] = 0; - out_3560058468708809121[30] = 1; - out_3560058468708809121[31] = 0; - out_3560058468708809121[32] = 0; - out_3560058468708809121[33] = 0; - out_3560058468708809121[34] = 0; - out_3560058468708809121[35] = 0; - out_3560058468708809121[36] = 0; - out_3560058468708809121[37] = 0; - out_3560058468708809121[38] = 0; - out_3560058468708809121[39] = 0; - out_3560058468708809121[40] = 1; - out_3560058468708809121[41] = 0; - out_3560058468708809121[42] = 0; - out_3560058468708809121[43] = 0; - out_3560058468708809121[44] = 0; - out_3560058468708809121[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_3560058468708809121[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_3560058468708809121[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3560058468708809121[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_3560058468708809121[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_3560058468708809121[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_3560058468708809121[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_3560058468708809121[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_3560058468708809121[53] = -9.8100000000000005*dt; - out_3560058468708809121[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_3560058468708809121[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_3560058468708809121[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3560058468708809121[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3560058468708809121[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_3560058468708809121[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_3560058468708809121[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_3560058468708809121[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_3560058468708809121[62] = 0; - out_3560058468708809121[63] = 0; - out_3560058468708809121[64] = 0; - out_3560058468708809121[65] = 0; - out_3560058468708809121[66] = 0; - out_3560058468708809121[67] = 0; - out_3560058468708809121[68] = 0; - out_3560058468708809121[69] = 0; - out_3560058468708809121[70] = 1; - out_3560058468708809121[71] = 0; - out_3560058468708809121[72] = 0; - out_3560058468708809121[73] = 0; - out_3560058468708809121[74] = 0; - out_3560058468708809121[75] = 0; - out_3560058468708809121[76] = 0; - out_3560058468708809121[77] = 0; - out_3560058468708809121[78] = 0; - out_3560058468708809121[79] = 0; - out_3560058468708809121[80] = 1; +void F_fun(double *state, double dt, double *out_5929650816649805655) { + out_5929650816649805655[0] = 1; + out_5929650816649805655[1] = 0; + out_5929650816649805655[2] = 0; + out_5929650816649805655[3] = 0; + out_5929650816649805655[4] = 0; + out_5929650816649805655[5] = 0; + out_5929650816649805655[6] = 0; + out_5929650816649805655[7] = 0; + out_5929650816649805655[8] = 0; + out_5929650816649805655[9] = 0; + out_5929650816649805655[10] = 1; + out_5929650816649805655[11] = 0; + out_5929650816649805655[12] = 0; + out_5929650816649805655[13] = 0; + out_5929650816649805655[14] = 0; + out_5929650816649805655[15] = 0; + out_5929650816649805655[16] = 0; + out_5929650816649805655[17] = 0; + out_5929650816649805655[18] = 0; + out_5929650816649805655[19] = 0; + out_5929650816649805655[20] = 1; + out_5929650816649805655[21] = 0; + out_5929650816649805655[22] = 0; + out_5929650816649805655[23] = 0; + out_5929650816649805655[24] = 0; + out_5929650816649805655[25] = 0; + out_5929650816649805655[26] = 0; + out_5929650816649805655[27] = 0; + out_5929650816649805655[28] = 0; + out_5929650816649805655[29] = 0; + out_5929650816649805655[30] = 1; + out_5929650816649805655[31] = 0; + out_5929650816649805655[32] = 0; + out_5929650816649805655[33] = 0; + out_5929650816649805655[34] = 0; + out_5929650816649805655[35] = 0; + out_5929650816649805655[36] = 0; + out_5929650816649805655[37] = 0; + out_5929650816649805655[38] = 0; + out_5929650816649805655[39] = 0; + out_5929650816649805655[40] = 1; + out_5929650816649805655[41] = 0; + out_5929650816649805655[42] = 0; + out_5929650816649805655[43] = 0; + out_5929650816649805655[44] = 0; + out_5929650816649805655[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_5929650816649805655[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5929650816649805655[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5929650816649805655[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5929650816649805655[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_5929650816649805655[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5929650816649805655[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5929650816649805655[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5929650816649805655[53] = -9.8100000000000005*dt; + out_5929650816649805655[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_5929650816649805655[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5929650816649805655[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5929650816649805655[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5929650816649805655[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_5929650816649805655[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5929650816649805655[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_5929650816649805655[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5929650816649805655[62] = 0; + out_5929650816649805655[63] = 0; + out_5929650816649805655[64] = 0; + out_5929650816649805655[65] = 0; + out_5929650816649805655[66] = 0; + out_5929650816649805655[67] = 0; + out_5929650816649805655[68] = 0; + out_5929650816649805655[69] = 0; + out_5929650816649805655[70] = 1; + out_5929650816649805655[71] = 0; + out_5929650816649805655[72] = 0; + out_5929650816649805655[73] = 0; + out_5929650816649805655[74] = 0; + out_5929650816649805655[75] = 0; + out_5929650816649805655[76] = 0; + out_5929650816649805655[77] = 0; + out_5929650816649805655[78] = 0; + out_5929650816649805655[79] = 0; + out_5929650816649805655[80] = 1; } -void h_25(double *state, double *unused, double *out_1132582605868503102) { - out_1132582605868503102[0] = state[6]; +void h_25(double *state, double *unused, double *out_257622994030229427) { + out_257622994030229427[0] = state[6]; } -void H_25(double *state, double *unused, double *out_9104003375314738868) { - out_9104003375314738868[0] = 0; - out_9104003375314738868[1] = 0; - out_9104003375314738868[2] = 0; - out_9104003375314738868[3] = 0; - out_9104003375314738868[4] = 0; - out_9104003375314738868[5] = 0; - out_9104003375314738868[6] = 1; - out_9104003375314738868[7] = 0; - out_9104003375314738868[8] = 0; +void H_25(double *state, double *unused, double *out_1569837720915200444) { + out_1569837720915200444[0] = 0; + out_1569837720915200444[1] = 0; + out_1569837720915200444[2] = 0; + out_1569837720915200444[3] = 0; + out_1569837720915200444[4] = 0; + out_1569837720915200444[5] = 0; + out_1569837720915200444[6] = 1; + out_1569837720915200444[7] = 0; + out_1569837720915200444[8] = 0; } -void h_24(double *state, double *unused, double *out_8381470974523360630) { - out_8381470974523360630[0] = state[4]; - out_8381470974523360630[1] = state[5]; +void h_24(double *state, double *unused, double *out_5563077321127263871) { + out_5563077321127263871[0] = state[4]; + out_5563077321127263871[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4357494048348229834) { - out_4357494048348229834[0] = 0; - out_4357494048348229834[1] = 0; - out_4357494048348229834[2] = 0; - out_4357494048348229834[3] = 0; - out_4357494048348229834[4] = 1; - out_4357494048348229834[5] = 0; - out_4357494048348229834[6] = 0; - out_4357494048348229834[7] = 0; - out_4357494048348229834[8] = 0; - out_4357494048348229834[9] = 0; - out_4357494048348229834[10] = 0; - out_4357494048348229834[11] = 0; - out_4357494048348229834[12] = 0; - out_4357494048348229834[13] = 0; - out_4357494048348229834[14] = 1; - out_4357494048348229834[15] = 0; - out_4357494048348229834[16] = 0; - out_4357494048348229834[17] = 0; +void H_24(double *state, double *unused, double *out_1474479489089147748) { + out_1474479489089147748[0] = 0; + out_1474479489089147748[1] = 0; + out_1474479489089147748[2] = 0; + out_1474479489089147748[3] = 0; + out_1474479489089147748[4] = 1; + out_1474479489089147748[5] = 0; + out_1474479489089147748[6] = 0; + out_1474479489089147748[7] = 0; + out_1474479489089147748[8] = 0; + out_1474479489089147748[9] = 0; + out_1474479489089147748[10] = 0; + out_1474479489089147748[11] = 0; + out_1474479489089147748[12] = 0; + out_1474479489089147748[13] = 0; + out_1474479489089147748[14] = 1; + out_1474479489089147748[15] = 0; + out_1474479489089147748[16] = 0; + out_1474479489089147748[17] = 0; } -void h_30(double *state, double *unused, double *out_975395937517373957) { - out_975395937517373957[0] = state[4]; +void h_30(double *state, double *unused, double *out_3604060482398272225) { + out_3604060482398272225[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2426050356903195993) { - out_2426050356903195993[0] = 0; - out_2426050356903195993[1] = 0; - out_2426050356903195993[2] = 0; - out_2426050356903195993[3] = 0; - out_2426050356903195993[4] = 1; - out_2426050356903195993[5] = 0; - out_2426050356903195993[6] = 0; - out_2426050356903195993[7] = 0; - out_2426050356903195993[8] = 0; +void H_30(double *state, double *unused, double *out_1440498773771960374) { + out_1440498773771960374[0] = 0; + out_1440498773771960374[1] = 0; + out_1440498773771960374[2] = 0; + out_1440498773771960374[3] = 0; + out_1440498773771960374[4] = 1; + out_1440498773771960374[5] = 0; + out_1440498773771960374[6] = 0; + out_1440498773771960374[7] = 0; + out_1440498773771960374[8] = 0; } -void h_26(double *state, double *unused, double *out_4026277330143471688) { - out_4026277330143471688[0] = state[7]; +void h_26(double *state, double *unused, double *out_5860714419304438626) { + out_5860714419304438626[0] = state[7]; } -void H_26(double *state, double *unused, double *out_5362500056440682644) { - out_5362500056440682644[0] = 0; - out_5362500056440682644[1] = 0; - out_5362500056440682644[2] = 0; - out_5362500056440682644[3] = 0; - out_5362500056440682644[4] = 0; - out_5362500056440682644[5] = 0; - out_5362500056440682644[6] = 0; - out_5362500056440682644[7] = 1; - out_5362500056440682644[8] = 0; +void H_26(double *state, double *unused, double *out_2171665597958855780) { + out_2171665597958855780[0] = 0; + out_2171665597958855780[1] = 0; + out_2171665597958855780[2] = 0; + out_2171665597958855780[3] = 0; + out_2171665597958855780[4] = 0; + out_2171665597958855780[5] = 0; + out_2171665597958855780[6] = 0; + out_2171665597958855780[7] = 1; + out_2171665597958855780[8] = 0; } -void h_27(double *state, double *unused, double *out_990245959502812892) { - out_990245959502812892[0] = state[3]; +void h_27(double *state, double *unused, double *out_8762920418410247015) { + out_8762920418410247015[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4600813668703620904) { - out_4600813668703620904[0] = 0; - out_4600813668703620904[1] = 0; - out_4600813668703620904[2] = 0; - out_4600813668703620904[3] = 1; - out_4600813668703620904[4] = 0; - out_4600813668703620904[5] = 0; - out_4600813668703620904[6] = 0; - out_4600813668703620904[7] = 0; - out_4600813668703620904[8] = 0; +void H_27(double *state, double *unused, double *out_734264538028464537) { + out_734264538028464537[0] = 0; + out_734264538028464537[1] = 0; + out_734264538028464537[2] = 0; + out_734264538028464537[3] = 1; + out_734264538028464537[4] = 0; + out_734264538028464537[5] = 0; + out_734264538028464537[6] = 0; + out_734264538028464537[7] = 0; + out_734264538028464537[8] = 0; } -void h_29(double *state, double *unused, double *out_8450804723751701217) { - out_8450804723751701217[0] = state[1]; +void h_29(double *state, double *unused, double *out_8605733750059117870) { + out_8605733750059117870[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1915819012588803809) { - out_1915819012588803809[0] = 0; - out_1915819012588803809[1] = 1; - out_1915819012588803809[2] = 0; - out_1915819012588803809[3] = 0; - out_1915819012588803809[4] = 0; - out_1915819012588803809[5] = 0; - out_1915819012588803809[6] = 0; - out_1915819012588803809[7] = 0; - out_1915819012588803809[8] = 0; +void H_29(double *state, double *unused, double *out_1950730118086352558) { + out_1950730118086352558[0] = 0; + out_1950730118086352558[1] = 1; + out_1950730118086352558[2] = 0; + out_1950730118086352558[3] = 0; + out_1950730118086352558[4] = 0; + out_1950730118086352558[5] = 0; + out_1950730118086352558[6] = 0; + out_1950730118086352558[7] = 0; + out_1950730118086352558[8] = 0; } -void h_28(double *state, double *unused, double *out_2847713298477492018) { - out_2847713298477492018[0] = state[0]; +void h_28(double *state, double *unused, double *out_1327776983981546202) { + out_1327776983981546202[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7050168661066849105) { - out_7050168661066849105[0] = 1; - out_7050168661066849105[1] = 0; - out_7050168661066849105[2] = 0; - out_7050168661066849105[3] = 0; - out_7050168661066849105[4] = 0; - out_7050168661066849105[5] = 0; - out_7050168661066849105[6] = 0; - out_7050168661066849105[7] = 0; - out_7050168661066849105[8] = 0; +void H_28(double *state, double *unused, double *out_3914360389651678809) { + out_3914360389651678809[0] = 1; + out_3914360389651678809[1] = 0; + out_3914360389651678809[2] = 0; + out_3914360389651678809[3] = 0; + out_3914360389651678809[4] = 0; + out_3914360389651678809[5] = 0; + out_3914360389651678809[6] = 0; + out_3914360389651678809[7] = 0; + out_3914360389651678809[8] = 0; } -void h_31(double *state, double *unused, double *out_857388543583997213) { - out_857388543583997213[0] = state[8]; +void h_31(double *state, double *unused, double *out_7224938158711261921) { + out_7224938158711261921[0] = state[8]; } -void H_31(double *state, double *unused, double *out_9134649337191699296) { - out_9134649337191699296[0] = 0; - out_9134649337191699296[1] = 0; - out_9134649337191699296[2] = 0; - out_9134649337191699296[3] = 0; - out_9134649337191699296[4] = 0; - out_9134649337191699296[5] = 0; - out_9134649337191699296[6] = 0; - out_9134649337191699296[7] = 0; - out_9134649337191699296[8] = 1; +void H_31(double *state, double *unused, double *out_1600483682792160872) { + out_1600483682792160872[0] = 0; + out_1600483682792160872[1] = 0; + out_1600483682792160872[2] = 0; + out_1600483682792160872[3] = 0; + out_1600483682792160872[4] = 0; + out_1600483682792160872[5] = 0; + out_1600483682792160872[6] = 0; + out_1600483682792160872[7] = 0; + out_1600483682792160872[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_7214711627163091402) { - err_fun(nom_x, delta_x, out_7214711627163091402); +void car_err_fun(double *nom_x, double *delta_x, double *out_2814030462933274886) { + err_fun(nom_x, delta_x, out_2814030462933274886); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_911828672798028438) { - inv_err_fun(nom_x, true_x, out_911828672798028438); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1640667606358073333) { + inv_err_fun(nom_x, true_x, out_1640667606358073333); } -void car_H_mod_fun(double *state, double *out_149552472482575511) { - H_mod_fun(state, out_149552472482575511); +void car_H_mod_fun(double *state, double *out_1064503278714903732) { + H_mod_fun(state, out_1064503278714903732); } -void car_f_fun(double *state, double dt, double *out_4547528931834134293) { - f_fun(state, dt, out_4547528931834134293); +void car_f_fun(double *state, double dt, double *out_4383566153016226252) { + f_fun(state, dt, out_4383566153016226252); } -void car_F_fun(double *state, double dt, double *out_3560058468708809121) { - F_fun(state, dt, out_3560058468708809121); +void car_F_fun(double *state, double dt, double *out_5929650816649805655) { + F_fun(state, dt, out_5929650816649805655); } -void car_h_25(double *state, double *unused, double *out_1132582605868503102) { - h_25(state, unused, out_1132582605868503102); +void car_h_25(double *state, double *unused, double *out_257622994030229427) { + h_25(state, unused, out_257622994030229427); } -void car_H_25(double *state, double *unused, double *out_9104003375314738868) { - H_25(state, unused, out_9104003375314738868); +void car_H_25(double *state, double *unused, double *out_1569837720915200444) { + H_25(state, unused, out_1569837720915200444); } -void car_h_24(double *state, double *unused, double *out_8381470974523360630) { - h_24(state, unused, out_8381470974523360630); +void car_h_24(double *state, double *unused, double *out_5563077321127263871) { + h_24(state, unused, out_5563077321127263871); } -void car_H_24(double *state, double *unused, double *out_4357494048348229834) { - H_24(state, unused, out_4357494048348229834); +void car_H_24(double *state, double *unused, double *out_1474479489089147748) { + H_24(state, unused, out_1474479489089147748); } -void car_h_30(double *state, double *unused, double *out_975395937517373957) { - h_30(state, unused, out_975395937517373957); +void car_h_30(double *state, double *unused, double *out_3604060482398272225) { + h_30(state, unused, out_3604060482398272225); } -void car_H_30(double *state, double *unused, double *out_2426050356903195993) { - H_30(state, unused, out_2426050356903195993); +void car_H_30(double *state, double *unused, double *out_1440498773771960374) { + H_30(state, unused, out_1440498773771960374); } -void car_h_26(double *state, double *unused, double *out_4026277330143471688) { - h_26(state, unused, out_4026277330143471688); +void car_h_26(double *state, double *unused, double *out_5860714419304438626) { + h_26(state, unused, out_5860714419304438626); } -void car_H_26(double *state, double *unused, double *out_5362500056440682644) { - H_26(state, unused, out_5362500056440682644); +void car_H_26(double *state, double *unused, double *out_2171665597958855780) { + H_26(state, unused, out_2171665597958855780); } -void car_h_27(double *state, double *unused, double *out_990245959502812892) { - h_27(state, unused, out_990245959502812892); +void car_h_27(double *state, double *unused, double *out_8762920418410247015) { + h_27(state, unused, out_8762920418410247015); } -void car_H_27(double *state, double *unused, double *out_4600813668703620904) { - H_27(state, unused, out_4600813668703620904); +void car_H_27(double *state, double *unused, double *out_734264538028464537) { + H_27(state, unused, out_734264538028464537); } -void car_h_29(double *state, double *unused, double *out_8450804723751701217) { - h_29(state, unused, out_8450804723751701217); +void car_h_29(double *state, double *unused, double *out_8605733750059117870) { + h_29(state, unused, out_8605733750059117870); } -void car_H_29(double *state, double *unused, double *out_1915819012588803809) { - H_29(state, unused, out_1915819012588803809); +void car_H_29(double *state, double *unused, double *out_1950730118086352558) { + H_29(state, unused, out_1950730118086352558); } -void car_h_28(double *state, double *unused, double *out_2847713298477492018) { - h_28(state, unused, out_2847713298477492018); +void car_h_28(double *state, double *unused, double *out_1327776983981546202) { + h_28(state, unused, out_1327776983981546202); } -void car_H_28(double *state, double *unused, double *out_7050168661066849105) { - H_28(state, unused, out_7050168661066849105); +void car_H_28(double *state, double *unused, double *out_3914360389651678809) { + H_28(state, unused, out_3914360389651678809); } -void car_h_31(double *state, double *unused, double *out_857388543583997213) { - h_31(state, unused, out_857388543583997213); +void car_h_31(double *state, double *unused, double *out_7224938158711261921) { + h_31(state, unused, out_7224938158711261921); } -void car_H_31(double *state, double *unused, double *out_9134649337191699296) { - H_31(state, unused, out_9134649337191699296); +void car_H_31(double *state, double *unused, double *out_1600483682792160872) { + H_31(state, unused, out_1600483682792160872); } 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 c9d533c8a..35275ded1 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_7214711627163091402); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_911828672798028438); -void car_H_mod_fun(double *state, double *out_149552472482575511); -void car_f_fun(double *state, double dt, double *out_4547528931834134293); -void car_F_fun(double *state, double dt, double *out_3560058468708809121); -void car_h_25(double *state, double *unused, double *out_1132582605868503102); -void car_H_25(double *state, double *unused, double *out_9104003375314738868); -void car_h_24(double *state, double *unused, double *out_8381470974523360630); -void car_H_24(double *state, double *unused, double *out_4357494048348229834); -void car_h_30(double *state, double *unused, double *out_975395937517373957); -void car_H_30(double *state, double *unused, double *out_2426050356903195993); -void car_h_26(double *state, double *unused, double *out_4026277330143471688); -void car_H_26(double *state, double *unused, double *out_5362500056440682644); -void car_h_27(double *state, double *unused, double *out_990245959502812892); -void car_H_27(double *state, double *unused, double *out_4600813668703620904); -void car_h_29(double *state, double *unused, double *out_8450804723751701217); -void car_H_29(double *state, double *unused, double *out_1915819012588803809); -void car_h_28(double *state, double *unused, double *out_2847713298477492018); -void car_H_28(double *state, double *unused, double *out_7050168661066849105); -void car_h_31(double *state, double *unused, double *out_857388543583997213); -void car_H_31(double *state, double *unused, double *out_9134649337191699296); +void car_err_fun(double *nom_x, double *delta_x, double *out_2814030462933274886); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1640667606358073333); +void car_H_mod_fun(double *state, double *out_1064503278714903732); +void car_f_fun(double *state, double dt, double *out_4383566153016226252); +void car_F_fun(double *state, double dt, double *out_5929650816649805655); +void car_h_25(double *state, double *unused, double *out_257622994030229427); +void car_H_25(double *state, double *unused, double *out_1569837720915200444); +void car_h_24(double *state, double *unused, double *out_5563077321127263871); +void car_H_24(double *state, double *unused, double *out_1474479489089147748); +void car_h_30(double *state, double *unused, double *out_3604060482398272225); +void car_H_30(double *state, double *unused, double *out_1440498773771960374); +void car_h_26(double *state, double *unused, double *out_5860714419304438626); +void car_H_26(double *state, double *unused, double *out_2171665597958855780); +void car_h_27(double *state, double *unused, double *out_8762920418410247015); +void car_H_27(double *state, double *unused, double *out_734264538028464537); +void car_h_29(double *state, double *unused, double *out_8605733750059117870); +void car_H_29(double *state, double *unused, double *out_1950730118086352558); +void car_h_28(double *state, double *unused, double *out_1327776983981546202); +void car_H_28(double *state, double *unused, double *out_3914360389651678809); +void car_h_31(double *state, double *unused, double *out_7224938158711261921); +void car_H_31(double *state, double *unused, double *out_1600483682792160872); 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 e106e2659..3948346a0 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_6169503642516981710) { - out_6169503642516981710[0] = delta_x[0] + nom_x[0]; - out_6169503642516981710[1] = delta_x[1] + nom_x[1]; - out_6169503642516981710[2] = delta_x[2] + nom_x[2]; - out_6169503642516981710[3] = delta_x[3] + nom_x[3]; - out_6169503642516981710[4] = delta_x[4] + nom_x[4]; - out_6169503642516981710[5] = delta_x[5] + nom_x[5]; - out_6169503642516981710[6] = delta_x[6] + nom_x[6]; - out_6169503642516981710[7] = delta_x[7] + nom_x[7]; - out_6169503642516981710[8] = delta_x[8] + nom_x[8]; - out_6169503642516981710[9] = delta_x[9] + nom_x[9]; - out_6169503642516981710[10] = delta_x[10] + nom_x[10]; - out_6169503642516981710[11] = delta_x[11] + nom_x[11]; - out_6169503642516981710[12] = delta_x[12] + nom_x[12]; - out_6169503642516981710[13] = delta_x[13] + nom_x[13]; - out_6169503642516981710[14] = delta_x[14] + nom_x[14]; - out_6169503642516981710[15] = delta_x[15] + nom_x[15]; - out_6169503642516981710[16] = delta_x[16] + nom_x[16]; - out_6169503642516981710[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5715232905817063541) { + out_5715232905817063541[0] = delta_x[0] + nom_x[0]; + out_5715232905817063541[1] = delta_x[1] + nom_x[1]; + out_5715232905817063541[2] = delta_x[2] + nom_x[2]; + out_5715232905817063541[3] = delta_x[3] + nom_x[3]; + out_5715232905817063541[4] = delta_x[4] + nom_x[4]; + out_5715232905817063541[5] = delta_x[5] + nom_x[5]; + out_5715232905817063541[6] = delta_x[6] + nom_x[6]; + out_5715232905817063541[7] = delta_x[7] + nom_x[7]; + out_5715232905817063541[8] = delta_x[8] + nom_x[8]; + out_5715232905817063541[9] = delta_x[9] + nom_x[9]; + out_5715232905817063541[10] = delta_x[10] + nom_x[10]; + out_5715232905817063541[11] = delta_x[11] + nom_x[11]; + out_5715232905817063541[12] = delta_x[12] + nom_x[12]; + out_5715232905817063541[13] = delta_x[13] + nom_x[13]; + out_5715232905817063541[14] = delta_x[14] + nom_x[14]; + out_5715232905817063541[15] = delta_x[15] + nom_x[15]; + out_5715232905817063541[16] = delta_x[16] + nom_x[16]; + out_5715232905817063541[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2781558835044378693) { - out_2781558835044378693[0] = -nom_x[0] + true_x[0]; - out_2781558835044378693[1] = -nom_x[1] + true_x[1]; - out_2781558835044378693[2] = -nom_x[2] + true_x[2]; - out_2781558835044378693[3] = -nom_x[3] + true_x[3]; - out_2781558835044378693[4] = -nom_x[4] + true_x[4]; - out_2781558835044378693[5] = -nom_x[5] + true_x[5]; - out_2781558835044378693[6] = -nom_x[6] + true_x[6]; - out_2781558835044378693[7] = -nom_x[7] + true_x[7]; - out_2781558835044378693[8] = -nom_x[8] + true_x[8]; - out_2781558835044378693[9] = -nom_x[9] + true_x[9]; - out_2781558835044378693[10] = -nom_x[10] + true_x[10]; - out_2781558835044378693[11] = -nom_x[11] + true_x[11]; - out_2781558835044378693[12] = -nom_x[12] + true_x[12]; - out_2781558835044378693[13] = -nom_x[13] + true_x[13]; - out_2781558835044378693[14] = -nom_x[14] + true_x[14]; - out_2781558835044378693[15] = -nom_x[15] + true_x[15]; - out_2781558835044378693[16] = -nom_x[16] + true_x[16]; - out_2781558835044378693[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5652160587936785451) { + out_5652160587936785451[0] = -nom_x[0] + true_x[0]; + out_5652160587936785451[1] = -nom_x[1] + true_x[1]; + out_5652160587936785451[2] = -nom_x[2] + true_x[2]; + out_5652160587936785451[3] = -nom_x[3] + true_x[3]; + out_5652160587936785451[4] = -nom_x[4] + true_x[4]; + out_5652160587936785451[5] = -nom_x[5] + true_x[5]; + out_5652160587936785451[6] = -nom_x[6] + true_x[6]; + out_5652160587936785451[7] = -nom_x[7] + true_x[7]; + out_5652160587936785451[8] = -nom_x[8] + true_x[8]; + out_5652160587936785451[9] = -nom_x[9] + true_x[9]; + out_5652160587936785451[10] = -nom_x[10] + true_x[10]; + out_5652160587936785451[11] = -nom_x[11] + true_x[11]; + out_5652160587936785451[12] = -nom_x[12] + true_x[12]; + out_5652160587936785451[13] = -nom_x[13] + true_x[13]; + out_5652160587936785451[14] = -nom_x[14] + true_x[14]; + out_5652160587936785451[15] = -nom_x[15] + true_x[15]; + out_5652160587936785451[16] = -nom_x[16] + true_x[16]; + out_5652160587936785451[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4498457996676133449) { - out_4498457996676133449[0] = 1.0; - out_4498457996676133449[1] = 0.0; - out_4498457996676133449[2] = 0.0; - out_4498457996676133449[3] = 0.0; - out_4498457996676133449[4] = 0.0; - out_4498457996676133449[5] = 0.0; - out_4498457996676133449[6] = 0.0; - out_4498457996676133449[7] = 0.0; - out_4498457996676133449[8] = 0.0; - out_4498457996676133449[9] = 0.0; - out_4498457996676133449[10] = 0.0; - out_4498457996676133449[11] = 0.0; - out_4498457996676133449[12] = 0.0; - out_4498457996676133449[13] = 0.0; - out_4498457996676133449[14] = 0.0; - out_4498457996676133449[15] = 0.0; - out_4498457996676133449[16] = 0.0; - out_4498457996676133449[17] = 0.0; - out_4498457996676133449[18] = 0.0; - out_4498457996676133449[19] = 1.0; - out_4498457996676133449[20] = 0.0; - out_4498457996676133449[21] = 0.0; - out_4498457996676133449[22] = 0.0; - out_4498457996676133449[23] = 0.0; - out_4498457996676133449[24] = 0.0; - out_4498457996676133449[25] = 0.0; - out_4498457996676133449[26] = 0.0; - out_4498457996676133449[27] = 0.0; - out_4498457996676133449[28] = 0.0; - out_4498457996676133449[29] = 0.0; - out_4498457996676133449[30] = 0.0; - out_4498457996676133449[31] = 0.0; - out_4498457996676133449[32] = 0.0; - out_4498457996676133449[33] = 0.0; - out_4498457996676133449[34] = 0.0; - out_4498457996676133449[35] = 0.0; - out_4498457996676133449[36] = 0.0; - out_4498457996676133449[37] = 0.0; - out_4498457996676133449[38] = 1.0; - out_4498457996676133449[39] = 0.0; - out_4498457996676133449[40] = 0.0; - out_4498457996676133449[41] = 0.0; - out_4498457996676133449[42] = 0.0; - out_4498457996676133449[43] = 0.0; - out_4498457996676133449[44] = 0.0; - out_4498457996676133449[45] = 0.0; - out_4498457996676133449[46] = 0.0; - out_4498457996676133449[47] = 0.0; - out_4498457996676133449[48] = 0.0; - out_4498457996676133449[49] = 0.0; - out_4498457996676133449[50] = 0.0; - out_4498457996676133449[51] = 0.0; - out_4498457996676133449[52] = 0.0; - out_4498457996676133449[53] = 0.0; - out_4498457996676133449[54] = 0.0; - out_4498457996676133449[55] = 0.0; - out_4498457996676133449[56] = 0.0; - out_4498457996676133449[57] = 1.0; - out_4498457996676133449[58] = 0.0; - out_4498457996676133449[59] = 0.0; - out_4498457996676133449[60] = 0.0; - out_4498457996676133449[61] = 0.0; - out_4498457996676133449[62] = 0.0; - out_4498457996676133449[63] = 0.0; - out_4498457996676133449[64] = 0.0; - out_4498457996676133449[65] = 0.0; - out_4498457996676133449[66] = 0.0; - out_4498457996676133449[67] = 0.0; - out_4498457996676133449[68] = 0.0; - out_4498457996676133449[69] = 0.0; - out_4498457996676133449[70] = 0.0; - out_4498457996676133449[71] = 0.0; - out_4498457996676133449[72] = 0.0; - out_4498457996676133449[73] = 0.0; - out_4498457996676133449[74] = 0.0; - out_4498457996676133449[75] = 0.0; - out_4498457996676133449[76] = 1.0; - out_4498457996676133449[77] = 0.0; - out_4498457996676133449[78] = 0.0; - out_4498457996676133449[79] = 0.0; - out_4498457996676133449[80] = 0.0; - out_4498457996676133449[81] = 0.0; - out_4498457996676133449[82] = 0.0; - out_4498457996676133449[83] = 0.0; - out_4498457996676133449[84] = 0.0; - out_4498457996676133449[85] = 0.0; - out_4498457996676133449[86] = 0.0; - out_4498457996676133449[87] = 0.0; - out_4498457996676133449[88] = 0.0; - out_4498457996676133449[89] = 0.0; - out_4498457996676133449[90] = 0.0; - out_4498457996676133449[91] = 0.0; - out_4498457996676133449[92] = 0.0; - out_4498457996676133449[93] = 0.0; - out_4498457996676133449[94] = 0.0; - out_4498457996676133449[95] = 1.0; - out_4498457996676133449[96] = 0.0; - out_4498457996676133449[97] = 0.0; - out_4498457996676133449[98] = 0.0; - out_4498457996676133449[99] = 0.0; - out_4498457996676133449[100] = 0.0; - out_4498457996676133449[101] = 0.0; - out_4498457996676133449[102] = 0.0; - out_4498457996676133449[103] = 0.0; - out_4498457996676133449[104] = 0.0; - out_4498457996676133449[105] = 0.0; - out_4498457996676133449[106] = 0.0; - out_4498457996676133449[107] = 0.0; - out_4498457996676133449[108] = 0.0; - out_4498457996676133449[109] = 0.0; - out_4498457996676133449[110] = 0.0; - out_4498457996676133449[111] = 0.0; - out_4498457996676133449[112] = 0.0; - out_4498457996676133449[113] = 0.0; - out_4498457996676133449[114] = 1.0; - out_4498457996676133449[115] = 0.0; - out_4498457996676133449[116] = 0.0; - out_4498457996676133449[117] = 0.0; - out_4498457996676133449[118] = 0.0; - out_4498457996676133449[119] = 0.0; - out_4498457996676133449[120] = 0.0; - out_4498457996676133449[121] = 0.0; - out_4498457996676133449[122] = 0.0; - out_4498457996676133449[123] = 0.0; - out_4498457996676133449[124] = 0.0; - out_4498457996676133449[125] = 0.0; - out_4498457996676133449[126] = 0.0; - out_4498457996676133449[127] = 0.0; - out_4498457996676133449[128] = 0.0; - out_4498457996676133449[129] = 0.0; - out_4498457996676133449[130] = 0.0; - out_4498457996676133449[131] = 0.0; - out_4498457996676133449[132] = 0.0; - out_4498457996676133449[133] = 1.0; - out_4498457996676133449[134] = 0.0; - out_4498457996676133449[135] = 0.0; - out_4498457996676133449[136] = 0.0; - out_4498457996676133449[137] = 0.0; - out_4498457996676133449[138] = 0.0; - out_4498457996676133449[139] = 0.0; - out_4498457996676133449[140] = 0.0; - out_4498457996676133449[141] = 0.0; - out_4498457996676133449[142] = 0.0; - out_4498457996676133449[143] = 0.0; - out_4498457996676133449[144] = 0.0; - out_4498457996676133449[145] = 0.0; - out_4498457996676133449[146] = 0.0; - out_4498457996676133449[147] = 0.0; - out_4498457996676133449[148] = 0.0; - out_4498457996676133449[149] = 0.0; - out_4498457996676133449[150] = 0.0; - out_4498457996676133449[151] = 0.0; - out_4498457996676133449[152] = 1.0; - out_4498457996676133449[153] = 0.0; - out_4498457996676133449[154] = 0.0; - out_4498457996676133449[155] = 0.0; - out_4498457996676133449[156] = 0.0; - out_4498457996676133449[157] = 0.0; - out_4498457996676133449[158] = 0.0; - out_4498457996676133449[159] = 0.0; - out_4498457996676133449[160] = 0.0; - out_4498457996676133449[161] = 0.0; - out_4498457996676133449[162] = 0.0; - out_4498457996676133449[163] = 0.0; - out_4498457996676133449[164] = 0.0; - out_4498457996676133449[165] = 0.0; - out_4498457996676133449[166] = 0.0; - out_4498457996676133449[167] = 0.0; - out_4498457996676133449[168] = 0.0; - out_4498457996676133449[169] = 0.0; - out_4498457996676133449[170] = 0.0; - out_4498457996676133449[171] = 1.0; - out_4498457996676133449[172] = 0.0; - out_4498457996676133449[173] = 0.0; - out_4498457996676133449[174] = 0.0; - out_4498457996676133449[175] = 0.0; - out_4498457996676133449[176] = 0.0; - out_4498457996676133449[177] = 0.0; - out_4498457996676133449[178] = 0.0; - out_4498457996676133449[179] = 0.0; - out_4498457996676133449[180] = 0.0; - out_4498457996676133449[181] = 0.0; - out_4498457996676133449[182] = 0.0; - out_4498457996676133449[183] = 0.0; - out_4498457996676133449[184] = 0.0; - out_4498457996676133449[185] = 0.0; - out_4498457996676133449[186] = 0.0; - out_4498457996676133449[187] = 0.0; - out_4498457996676133449[188] = 0.0; - out_4498457996676133449[189] = 0.0; - out_4498457996676133449[190] = 1.0; - out_4498457996676133449[191] = 0.0; - out_4498457996676133449[192] = 0.0; - out_4498457996676133449[193] = 0.0; - out_4498457996676133449[194] = 0.0; - out_4498457996676133449[195] = 0.0; - out_4498457996676133449[196] = 0.0; - out_4498457996676133449[197] = 0.0; - out_4498457996676133449[198] = 0.0; - out_4498457996676133449[199] = 0.0; - out_4498457996676133449[200] = 0.0; - out_4498457996676133449[201] = 0.0; - out_4498457996676133449[202] = 0.0; - out_4498457996676133449[203] = 0.0; - out_4498457996676133449[204] = 0.0; - out_4498457996676133449[205] = 0.0; - out_4498457996676133449[206] = 0.0; - out_4498457996676133449[207] = 0.0; - out_4498457996676133449[208] = 0.0; - out_4498457996676133449[209] = 1.0; - out_4498457996676133449[210] = 0.0; - out_4498457996676133449[211] = 0.0; - out_4498457996676133449[212] = 0.0; - out_4498457996676133449[213] = 0.0; - out_4498457996676133449[214] = 0.0; - out_4498457996676133449[215] = 0.0; - out_4498457996676133449[216] = 0.0; - out_4498457996676133449[217] = 0.0; - out_4498457996676133449[218] = 0.0; - out_4498457996676133449[219] = 0.0; - out_4498457996676133449[220] = 0.0; - out_4498457996676133449[221] = 0.0; - out_4498457996676133449[222] = 0.0; - out_4498457996676133449[223] = 0.0; - out_4498457996676133449[224] = 0.0; - out_4498457996676133449[225] = 0.0; - out_4498457996676133449[226] = 0.0; - out_4498457996676133449[227] = 0.0; - out_4498457996676133449[228] = 1.0; - out_4498457996676133449[229] = 0.0; - out_4498457996676133449[230] = 0.0; - out_4498457996676133449[231] = 0.0; - out_4498457996676133449[232] = 0.0; - out_4498457996676133449[233] = 0.0; - out_4498457996676133449[234] = 0.0; - out_4498457996676133449[235] = 0.0; - out_4498457996676133449[236] = 0.0; - out_4498457996676133449[237] = 0.0; - out_4498457996676133449[238] = 0.0; - out_4498457996676133449[239] = 0.0; - out_4498457996676133449[240] = 0.0; - out_4498457996676133449[241] = 0.0; - out_4498457996676133449[242] = 0.0; - out_4498457996676133449[243] = 0.0; - out_4498457996676133449[244] = 0.0; - out_4498457996676133449[245] = 0.0; - out_4498457996676133449[246] = 0.0; - out_4498457996676133449[247] = 1.0; - out_4498457996676133449[248] = 0.0; - out_4498457996676133449[249] = 0.0; - out_4498457996676133449[250] = 0.0; - out_4498457996676133449[251] = 0.0; - out_4498457996676133449[252] = 0.0; - out_4498457996676133449[253] = 0.0; - out_4498457996676133449[254] = 0.0; - out_4498457996676133449[255] = 0.0; - out_4498457996676133449[256] = 0.0; - out_4498457996676133449[257] = 0.0; - out_4498457996676133449[258] = 0.0; - out_4498457996676133449[259] = 0.0; - out_4498457996676133449[260] = 0.0; - out_4498457996676133449[261] = 0.0; - out_4498457996676133449[262] = 0.0; - out_4498457996676133449[263] = 0.0; - out_4498457996676133449[264] = 0.0; - out_4498457996676133449[265] = 0.0; - out_4498457996676133449[266] = 1.0; - out_4498457996676133449[267] = 0.0; - out_4498457996676133449[268] = 0.0; - out_4498457996676133449[269] = 0.0; - out_4498457996676133449[270] = 0.0; - out_4498457996676133449[271] = 0.0; - out_4498457996676133449[272] = 0.0; - out_4498457996676133449[273] = 0.0; - out_4498457996676133449[274] = 0.0; - out_4498457996676133449[275] = 0.0; - out_4498457996676133449[276] = 0.0; - out_4498457996676133449[277] = 0.0; - out_4498457996676133449[278] = 0.0; - out_4498457996676133449[279] = 0.0; - out_4498457996676133449[280] = 0.0; - out_4498457996676133449[281] = 0.0; - out_4498457996676133449[282] = 0.0; - out_4498457996676133449[283] = 0.0; - out_4498457996676133449[284] = 0.0; - out_4498457996676133449[285] = 1.0; - out_4498457996676133449[286] = 0.0; - out_4498457996676133449[287] = 0.0; - out_4498457996676133449[288] = 0.0; - out_4498457996676133449[289] = 0.0; - out_4498457996676133449[290] = 0.0; - out_4498457996676133449[291] = 0.0; - out_4498457996676133449[292] = 0.0; - out_4498457996676133449[293] = 0.0; - out_4498457996676133449[294] = 0.0; - out_4498457996676133449[295] = 0.0; - out_4498457996676133449[296] = 0.0; - out_4498457996676133449[297] = 0.0; - out_4498457996676133449[298] = 0.0; - out_4498457996676133449[299] = 0.0; - out_4498457996676133449[300] = 0.0; - out_4498457996676133449[301] = 0.0; - out_4498457996676133449[302] = 0.0; - out_4498457996676133449[303] = 0.0; - out_4498457996676133449[304] = 1.0; - out_4498457996676133449[305] = 0.0; - out_4498457996676133449[306] = 0.0; - out_4498457996676133449[307] = 0.0; - out_4498457996676133449[308] = 0.0; - out_4498457996676133449[309] = 0.0; - out_4498457996676133449[310] = 0.0; - out_4498457996676133449[311] = 0.0; - out_4498457996676133449[312] = 0.0; - out_4498457996676133449[313] = 0.0; - out_4498457996676133449[314] = 0.0; - out_4498457996676133449[315] = 0.0; - out_4498457996676133449[316] = 0.0; - out_4498457996676133449[317] = 0.0; - out_4498457996676133449[318] = 0.0; - out_4498457996676133449[319] = 0.0; - out_4498457996676133449[320] = 0.0; - out_4498457996676133449[321] = 0.0; - out_4498457996676133449[322] = 0.0; - out_4498457996676133449[323] = 1.0; +void H_mod_fun(double *state, double *out_4347742436966495208) { + out_4347742436966495208[0] = 1.0; + out_4347742436966495208[1] = 0.0; + out_4347742436966495208[2] = 0.0; + out_4347742436966495208[3] = 0.0; + out_4347742436966495208[4] = 0.0; + out_4347742436966495208[5] = 0.0; + out_4347742436966495208[6] = 0.0; + out_4347742436966495208[7] = 0.0; + out_4347742436966495208[8] = 0.0; + out_4347742436966495208[9] = 0.0; + out_4347742436966495208[10] = 0.0; + out_4347742436966495208[11] = 0.0; + out_4347742436966495208[12] = 0.0; + out_4347742436966495208[13] = 0.0; + out_4347742436966495208[14] = 0.0; + out_4347742436966495208[15] = 0.0; + out_4347742436966495208[16] = 0.0; + out_4347742436966495208[17] = 0.0; + out_4347742436966495208[18] = 0.0; + out_4347742436966495208[19] = 1.0; + out_4347742436966495208[20] = 0.0; + out_4347742436966495208[21] = 0.0; + out_4347742436966495208[22] = 0.0; + out_4347742436966495208[23] = 0.0; + out_4347742436966495208[24] = 0.0; + out_4347742436966495208[25] = 0.0; + out_4347742436966495208[26] = 0.0; + out_4347742436966495208[27] = 0.0; + out_4347742436966495208[28] = 0.0; + out_4347742436966495208[29] = 0.0; + out_4347742436966495208[30] = 0.0; + out_4347742436966495208[31] = 0.0; + out_4347742436966495208[32] = 0.0; + out_4347742436966495208[33] = 0.0; + out_4347742436966495208[34] = 0.0; + out_4347742436966495208[35] = 0.0; + out_4347742436966495208[36] = 0.0; + out_4347742436966495208[37] = 0.0; + out_4347742436966495208[38] = 1.0; + out_4347742436966495208[39] = 0.0; + out_4347742436966495208[40] = 0.0; + out_4347742436966495208[41] = 0.0; + out_4347742436966495208[42] = 0.0; + out_4347742436966495208[43] = 0.0; + out_4347742436966495208[44] = 0.0; + out_4347742436966495208[45] = 0.0; + out_4347742436966495208[46] = 0.0; + out_4347742436966495208[47] = 0.0; + out_4347742436966495208[48] = 0.0; + out_4347742436966495208[49] = 0.0; + out_4347742436966495208[50] = 0.0; + out_4347742436966495208[51] = 0.0; + out_4347742436966495208[52] = 0.0; + out_4347742436966495208[53] = 0.0; + out_4347742436966495208[54] = 0.0; + out_4347742436966495208[55] = 0.0; + out_4347742436966495208[56] = 0.0; + out_4347742436966495208[57] = 1.0; + out_4347742436966495208[58] = 0.0; + out_4347742436966495208[59] = 0.0; + out_4347742436966495208[60] = 0.0; + out_4347742436966495208[61] = 0.0; + out_4347742436966495208[62] = 0.0; + out_4347742436966495208[63] = 0.0; + out_4347742436966495208[64] = 0.0; + out_4347742436966495208[65] = 0.0; + out_4347742436966495208[66] = 0.0; + out_4347742436966495208[67] = 0.0; + out_4347742436966495208[68] = 0.0; + out_4347742436966495208[69] = 0.0; + out_4347742436966495208[70] = 0.0; + out_4347742436966495208[71] = 0.0; + out_4347742436966495208[72] = 0.0; + out_4347742436966495208[73] = 0.0; + out_4347742436966495208[74] = 0.0; + out_4347742436966495208[75] = 0.0; + out_4347742436966495208[76] = 1.0; + out_4347742436966495208[77] = 0.0; + out_4347742436966495208[78] = 0.0; + out_4347742436966495208[79] = 0.0; + out_4347742436966495208[80] = 0.0; + out_4347742436966495208[81] = 0.0; + out_4347742436966495208[82] = 0.0; + out_4347742436966495208[83] = 0.0; + out_4347742436966495208[84] = 0.0; + out_4347742436966495208[85] = 0.0; + out_4347742436966495208[86] = 0.0; + out_4347742436966495208[87] = 0.0; + out_4347742436966495208[88] = 0.0; + out_4347742436966495208[89] = 0.0; + out_4347742436966495208[90] = 0.0; + out_4347742436966495208[91] = 0.0; + out_4347742436966495208[92] = 0.0; + out_4347742436966495208[93] = 0.0; + out_4347742436966495208[94] = 0.0; + out_4347742436966495208[95] = 1.0; + out_4347742436966495208[96] = 0.0; + out_4347742436966495208[97] = 0.0; + out_4347742436966495208[98] = 0.0; + out_4347742436966495208[99] = 0.0; + out_4347742436966495208[100] = 0.0; + out_4347742436966495208[101] = 0.0; + out_4347742436966495208[102] = 0.0; + out_4347742436966495208[103] = 0.0; + out_4347742436966495208[104] = 0.0; + out_4347742436966495208[105] = 0.0; + out_4347742436966495208[106] = 0.0; + out_4347742436966495208[107] = 0.0; + out_4347742436966495208[108] = 0.0; + out_4347742436966495208[109] = 0.0; + out_4347742436966495208[110] = 0.0; + out_4347742436966495208[111] = 0.0; + out_4347742436966495208[112] = 0.0; + out_4347742436966495208[113] = 0.0; + out_4347742436966495208[114] = 1.0; + out_4347742436966495208[115] = 0.0; + out_4347742436966495208[116] = 0.0; + out_4347742436966495208[117] = 0.0; + out_4347742436966495208[118] = 0.0; + out_4347742436966495208[119] = 0.0; + out_4347742436966495208[120] = 0.0; + out_4347742436966495208[121] = 0.0; + out_4347742436966495208[122] = 0.0; + out_4347742436966495208[123] = 0.0; + out_4347742436966495208[124] = 0.0; + out_4347742436966495208[125] = 0.0; + out_4347742436966495208[126] = 0.0; + out_4347742436966495208[127] = 0.0; + out_4347742436966495208[128] = 0.0; + out_4347742436966495208[129] = 0.0; + out_4347742436966495208[130] = 0.0; + out_4347742436966495208[131] = 0.0; + out_4347742436966495208[132] = 0.0; + out_4347742436966495208[133] = 1.0; + out_4347742436966495208[134] = 0.0; + out_4347742436966495208[135] = 0.0; + out_4347742436966495208[136] = 0.0; + out_4347742436966495208[137] = 0.0; + out_4347742436966495208[138] = 0.0; + out_4347742436966495208[139] = 0.0; + out_4347742436966495208[140] = 0.0; + out_4347742436966495208[141] = 0.0; + out_4347742436966495208[142] = 0.0; + out_4347742436966495208[143] = 0.0; + out_4347742436966495208[144] = 0.0; + out_4347742436966495208[145] = 0.0; + out_4347742436966495208[146] = 0.0; + out_4347742436966495208[147] = 0.0; + out_4347742436966495208[148] = 0.0; + out_4347742436966495208[149] = 0.0; + out_4347742436966495208[150] = 0.0; + out_4347742436966495208[151] = 0.0; + out_4347742436966495208[152] = 1.0; + out_4347742436966495208[153] = 0.0; + out_4347742436966495208[154] = 0.0; + out_4347742436966495208[155] = 0.0; + out_4347742436966495208[156] = 0.0; + out_4347742436966495208[157] = 0.0; + out_4347742436966495208[158] = 0.0; + out_4347742436966495208[159] = 0.0; + out_4347742436966495208[160] = 0.0; + out_4347742436966495208[161] = 0.0; + out_4347742436966495208[162] = 0.0; + out_4347742436966495208[163] = 0.0; + out_4347742436966495208[164] = 0.0; + out_4347742436966495208[165] = 0.0; + out_4347742436966495208[166] = 0.0; + out_4347742436966495208[167] = 0.0; + out_4347742436966495208[168] = 0.0; + out_4347742436966495208[169] = 0.0; + out_4347742436966495208[170] = 0.0; + out_4347742436966495208[171] = 1.0; + out_4347742436966495208[172] = 0.0; + out_4347742436966495208[173] = 0.0; + out_4347742436966495208[174] = 0.0; + out_4347742436966495208[175] = 0.0; + out_4347742436966495208[176] = 0.0; + out_4347742436966495208[177] = 0.0; + out_4347742436966495208[178] = 0.0; + out_4347742436966495208[179] = 0.0; + out_4347742436966495208[180] = 0.0; + out_4347742436966495208[181] = 0.0; + out_4347742436966495208[182] = 0.0; + out_4347742436966495208[183] = 0.0; + out_4347742436966495208[184] = 0.0; + out_4347742436966495208[185] = 0.0; + out_4347742436966495208[186] = 0.0; + out_4347742436966495208[187] = 0.0; + out_4347742436966495208[188] = 0.0; + out_4347742436966495208[189] = 0.0; + out_4347742436966495208[190] = 1.0; + out_4347742436966495208[191] = 0.0; + out_4347742436966495208[192] = 0.0; + out_4347742436966495208[193] = 0.0; + out_4347742436966495208[194] = 0.0; + out_4347742436966495208[195] = 0.0; + out_4347742436966495208[196] = 0.0; + out_4347742436966495208[197] = 0.0; + out_4347742436966495208[198] = 0.0; + out_4347742436966495208[199] = 0.0; + out_4347742436966495208[200] = 0.0; + out_4347742436966495208[201] = 0.0; + out_4347742436966495208[202] = 0.0; + out_4347742436966495208[203] = 0.0; + out_4347742436966495208[204] = 0.0; + out_4347742436966495208[205] = 0.0; + out_4347742436966495208[206] = 0.0; + out_4347742436966495208[207] = 0.0; + out_4347742436966495208[208] = 0.0; + out_4347742436966495208[209] = 1.0; + out_4347742436966495208[210] = 0.0; + out_4347742436966495208[211] = 0.0; + out_4347742436966495208[212] = 0.0; + out_4347742436966495208[213] = 0.0; + out_4347742436966495208[214] = 0.0; + out_4347742436966495208[215] = 0.0; + out_4347742436966495208[216] = 0.0; + out_4347742436966495208[217] = 0.0; + out_4347742436966495208[218] = 0.0; + out_4347742436966495208[219] = 0.0; + out_4347742436966495208[220] = 0.0; + out_4347742436966495208[221] = 0.0; + out_4347742436966495208[222] = 0.0; + out_4347742436966495208[223] = 0.0; + out_4347742436966495208[224] = 0.0; + out_4347742436966495208[225] = 0.0; + out_4347742436966495208[226] = 0.0; + out_4347742436966495208[227] = 0.0; + out_4347742436966495208[228] = 1.0; + out_4347742436966495208[229] = 0.0; + out_4347742436966495208[230] = 0.0; + out_4347742436966495208[231] = 0.0; + out_4347742436966495208[232] = 0.0; + out_4347742436966495208[233] = 0.0; + out_4347742436966495208[234] = 0.0; + out_4347742436966495208[235] = 0.0; + out_4347742436966495208[236] = 0.0; + out_4347742436966495208[237] = 0.0; + out_4347742436966495208[238] = 0.0; + out_4347742436966495208[239] = 0.0; + out_4347742436966495208[240] = 0.0; + out_4347742436966495208[241] = 0.0; + out_4347742436966495208[242] = 0.0; + out_4347742436966495208[243] = 0.0; + out_4347742436966495208[244] = 0.0; + out_4347742436966495208[245] = 0.0; + out_4347742436966495208[246] = 0.0; + out_4347742436966495208[247] = 1.0; + out_4347742436966495208[248] = 0.0; + out_4347742436966495208[249] = 0.0; + out_4347742436966495208[250] = 0.0; + out_4347742436966495208[251] = 0.0; + out_4347742436966495208[252] = 0.0; + out_4347742436966495208[253] = 0.0; + out_4347742436966495208[254] = 0.0; + out_4347742436966495208[255] = 0.0; + out_4347742436966495208[256] = 0.0; + out_4347742436966495208[257] = 0.0; + out_4347742436966495208[258] = 0.0; + out_4347742436966495208[259] = 0.0; + out_4347742436966495208[260] = 0.0; + out_4347742436966495208[261] = 0.0; + out_4347742436966495208[262] = 0.0; + out_4347742436966495208[263] = 0.0; + out_4347742436966495208[264] = 0.0; + out_4347742436966495208[265] = 0.0; + out_4347742436966495208[266] = 1.0; + out_4347742436966495208[267] = 0.0; + out_4347742436966495208[268] = 0.0; + out_4347742436966495208[269] = 0.0; + out_4347742436966495208[270] = 0.0; + out_4347742436966495208[271] = 0.0; + out_4347742436966495208[272] = 0.0; + out_4347742436966495208[273] = 0.0; + out_4347742436966495208[274] = 0.0; + out_4347742436966495208[275] = 0.0; + out_4347742436966495208[276] = 0.0; + out_4347742436966495208[277] = 0.0; + out_4347742436966495208[278] = 0.0; + out_4347742436966495208[279] = 0.0; + out_4347742436966495208[280] = 0.0; + out_4347742436966495208[281] = 0.0; + out_4347742436966495208[282] = 0.0; + out_4347742436966495208[283] = 0.0; + out_4347742436966495208[284] = 0.0; + out_4347742436966495208[285] = 1.0; + out_4347742436966495208[286] = 0.0; + out_4347742436966495208[287] = 0.0; + out_4347742436966495208[288] = 0.0; + out_4347742436966495208[289] = 0.0; + out_4347742436966495208[290] = 0.0; + out_4347742436966495208[291] = 0.0; + out_4347742436966495208[292] = 0.0; + out_4347742436966495208[293] = 0.0; + out_4347742436966495208[294] = 0.0; + out_4347742436966495208[295] = 0.0; + out_4347742436966495208[296] = 0.0; + out_4347742436966495208[297] = 0.0; + out_4347742436966495208[298] = 0.0; + out_4347742436966495208[299] = 0.0; + out_4347742436966495208[300] = 0.0; + out_4347742436966495208[301] = 0.0; + out_4347742436966495208[302] = 0.0; + out_4347742436966495208[303] = 0.0; + out_4347742436966495208[304] = 1.0; + out_4347742436966495208[305] = 0.0; + out_4347742436966495208[306] = 0.0; + out_4347742436966495208[307] = 0.0; + out_4347742436966495208[308] = 0.0; + out_4347742436966495208[309] = 0.0; + out_4347742436966495208[310] = 0.0; + out_4347742436966495208[311] = 0.0; + out_4347742436966495208[312] = 0.0; + out_4347742436966495208[313] = 0.0; + out_4347742436966495208[314] = 0.0; + out_4347742436966495208[315] = 0.0; + out_4347742436966495208[316] = 0.0; + out_4347742436966495208[317] = 0.0; + out_4347742436966495208[318] = 0.0; + out_4347742436966495208[319] = 0.0; + out_4347742436966495208[320] = 0.0; + out_4347742436966495208[321] = 0.0; + out_4347742436966495208[322] = 0.0; + out_4347742436966495208[323] = 1.0; } -void f_fun(double *state, double dt, double *out_3471362747861957887) { - out_3471362747861957887[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_3471362747861957887[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_3471362747861957887[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_3471362747861957887[3] = dt*state[12] + state[3]; - out_3471362747861957887[4] = dt*state[13] + state[4]; - out_3471362747861957887[5] = dt*state[14] + state[5]; - out_3471362747861957887[6] = state[6]; - out_3471362747861957887[7] = state[7]; - out_3471362747861957887[8] = state[8]; - out_3471362747861957887[9] = state[9]; - out_3471362747861957887[10] = state[10]; - out_3471362747861957887[11] = state[11]; - out_3471362747861957887[12] = state[12]; - out_3471362747861957887[13] = state[13]; - out_3471362747861957887[14] = state[14]; - out_3471362747861957887[15] = state[15]; - out_3471362747861957887[16] = state[16]; - out_3471362747861957887[17] = state[17]; +void f_fun(double *state, double dt, double *out_4741478081702887425) { + out_4741478081702887425[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_4741478081702887425[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_4741478081702887425[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_4741478081702887425[3] = dt*state[12] + state[3]; + out_4741478081702887425[4] = dt*state[13] + state[4]; + out_4741478081702887425[5] = dt*state[14] + state[5]; + out_4741478081702887425[6] = state[6]; + out_4741478081702887425[7] = state[7]; + out_4741478081702887425[8] = state[8]; + out_4741478081702887425[9] = state[9]; + out_4741478081702887425[10] = state[10]; + out_4741478081702887425[11] = state[11]; + out_4741478081702887425[12] = state[12]; + out_4741478081702887425[13] = state[13]; + out_4741478081702887425[14] = state[14]; + out_4741478081702887425[15] = state[15]; + out_4741478081702887425[16] = state[16]; + out_4741478081702887425[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2324287403941072643) { - out_2324287403941072643[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_2324287403941072643[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_2324287403941072643[2] = 0; - out_2324287403941072643[3] = 0; - out_2324287403941072643[4] = 0; - out_2324287403941072643[5] = 0; - out_2324287403941072643[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_2324287403941072643[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_2324287403941072643[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_2324287403941072643[9] = 0; - out_2324287403941072643[10] = 0; - out_2324287403941072643[11] = 0; - out_2324287403941072643[12] = 0; - out_2324287403941072643[13] = 0; - out_2324287403941072643[14] = 0; - out_2324287403941072643[15] = 0; - out_2324287403941072643[16] = 0; - out_2324287403941072643[17] = 0; - out_2324287403941072643[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_2324287403941072643[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_2324287403941072643[20] = 0; - out_2324287403941072643[21] = 0; - out_2324287403941072643[22] = 0; - out_2324287403941072643[23] = 0; - out_2324287403941072643[24] = 0; - out_2324287403941072643[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_2324287403941072643[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_2324287403941072643[27] = 0; - out_2324287403941072643[28] = 0; - out_2324287403941072643[29] = 0; - out_2324287403941072643[30] = 0; - out_2324287403941072643[31] = 0; - out_2324287403941072643[32] = 0; - out_2324287403941072643[33] = 0; - out_2324287403941072643[34] = 0; - out_2324287403941072643[35] = 0; - out_2324287403941072643[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_2324287403941072643[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_2324287403941072643[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_2324287403941072643[39] = 0; - out_2324287403941072643[40] = 0; - out_2324287403941072643[41] = 0; - out_2324287403941072643[42] = 0; - out_2324287403941072643[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_2324287403941072643[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_2324287403941072643[45] = 0; - out_2324287403941072643[46] = 0; - out_2324287403941072643[47] = 0; - out_2324287403941072643[48] = 0; - out_2324287403941072643[49] = 0; - out_2324287403941072643[50] = 0; - out_2324287403941072643[51] = 0; - out_2324287403941072643[52] = 0; - out_2324287403941072643[53] = 0; - out_2324287403941072643[54] = 0; - out_2324287403941072643[55] = 0; - out_2324287403941072643[56] = 0; - out_2324287403941072643[57] = 1; - out_2324287403941072643[58] = 0; - out_2324287403941072643[59] = 0; - out_2324287403941072643[60] = 0; - out_2324287403941072643[61] = 0; - out_2324287403941072643[62] = 0; - out_2324287403941072643[63] = 0; - out_2324287403941072643[64] = 0; - out_2324287403941072643[65] = 0; - out_2324287403941072643[66] = dt; - out_2324287403941072643[67] = 0; - out_2324287403941072643[68] = 0; - out_2324287403941072643[69] = 0; - out_2324287403941072643[70] = 0; - out_2324287403941072643[71] = 0; - out_2324287403941072643[72] = 0; - out_2324287403941072643[73] = 0; - out_2324287403941072643[74] = 0; - out_2324287403941072643[75] = 0; - out_2324287403941072643[76] = 1; - out_2324287403941072643[77] = 0; - out_2324287403941072643[78] = 0; - out_2324287403941072643[79] = 0; - out_2324287403941072643[80] = 0; - out_2324287403941072643[81] = 0; - out_2324287403941072643[82] = 0; - out_2324287403941072643[83] = 0; - out_2324287403941072643[84] = 0; - out_2324287403941072643[85] = dt; - out_2324287403941072643[86] = 0; - out_2324287403941072643[87] = 0; - out_2324287403941072643[88] = 0; - out_2324287403941072643[89] = 0; - out_2324287403941072643[90] = 0; - out_2324287403941072643[91] = 0; - out_2324287403941072643[92] = 0; - out_2324287403941072643[93] = 0; - out_2324287403941072643[94] = 0; - out_2324287403941072643[95] = 1; - out_2324287403941072643[96] = 0; - out_2324287403941072643[97] = 0; - out_2324287403941072643[98] = 0; - out_2324287403941072643[99] = 0; - out_2324287403941072643[100] = 0; - out_2324287403941072643[101] = 0; - out_2324287403941072643[102] = 0; - out_2324287403941072643[103] = 0; - out_2324287403941072643[104] = dt; - out_2324287403941072643[105] = 0; - out_2324287403941072643[106] = 0; - out_2324287403941072643[107] = 0; - out_2324287403941072643[108] = 0; - out_2324287403941072643[109] = 0; - out_2324287403941072643[110] = 0; - out_2324287403941072643[111] = 0; - out_2324287403941072643[112] = 0; - out_2324287403941072643[113] = 0; - out_2324287403941072643[114] = 1; - out_2324287403941072643[115] = 0; - out_2324287403941072643[116] = 0; - out_2324287403941072643[117] = 0; - out_2324287403941072643[118] = 0; - out_2324287403941072643[119] = 0; - out_2324287403941072643[120] = 0; - out_2324287403941072643[121] = 0; - out_2324287403941072643[122] = 0; - out_2324287403941072643[123] = 0; - out_2324287403941072643[124] = 0; - out_2324287403941072643[125] = 0; - out_2324287403941072643[126] = 0; - out_2324287403941072643[127] = 0; - out_2324287403941072643[128] = 0; - out_2324287403941072643[129] = 0; - out_2324287403941072643[130] = 0; - out_2324287403941072643[131] = 0; - out_2324287403941072643[132] = 0; - out_2324287403941072643[133] = 1; - out_2324287403941072643[134] = 0; - out_2324287403941072643[135] = 0; - out_2324287403941072643[136] = 0; - out_2324287403941072643[137] = 0; - out_2324287403941072643[138] = 0; - out_2324287403941072643[139] = 0; - out_2324287403941072643[140] = 0; - out_2324287403941072643[141] = 0; - out_2324287403941072643[142] = 0; - out_2324287403941072643[143] = 0; - out_2324287403941072643[144] = 0; - out_2324287403941072643[145] = 0; - out_2324287403941072643[146] = 0; - out_2324287403941072643[147] = 0; - out_2324287403941072643[148] = 0; - out_2324287403941072643[149] = 0; - out_2324287403941072643[150] = 0; - out_2324287403941072643[151] = 0; - out_2324287403941072643[152] = 1; - out_2324287403941072643[153] = 0; - out_2324287403941072643[154] = 0; - out_2324287403941072643[155] = 0; - out_2324287403941072643[156] = 0; - out_2324287403941072643[157] = 0; - out_2324287403941072643[158] = 0; - out_2324287403941072643[159] = 0; - out_2324287403941072643[160] = 0; - out_2324287403941072643[161] = 0; - out_2324287403941072643[162] = 0; - out_2324287403941072643[163] = 0; - out_2324287403941072643[164] = 0; - out_2324287403941072643[165] = 0; - out_2324287403941072643[166] = 0; - out_2324287403941072643[167] = 0; - out_2324287403941072643[168] = 0; - out_2324287403941072643[169] = 0; - out_2324287403941072643[170] = 0; - out_2324287403941072643[171] = 1; - out_2324287403941072643[172] = 0; - out_2324287403941072643[173] = 0; - out_2324287403941072643[174] = 0; - out_2324287403941072643[175] = 0; - out_2324287403941072643[176] = 0; - out_2324287403941072643[177] = 0; - out_2324287403941072643[178] = 0; - out_2324287403941072643[179] = 0; - out_2324287403941072643[180] = 0; - out_2324287403941072643[181] = 0; - out_2324287403941072643[182] = 0; - out_2324287403941072643[183] = 0; - out_2324287403941072643[184] = 0; - out_2324287403941072643[185] = 0; - out_2324287403941072643[186] = 0; - out_2324287403941072643[187] = 0; - out_2324287403941072643[188] = 0; - out_2324287403941072643[189] = 0; - out_2324287403941072643[190] = 1; - out_2324287403941072643[191] = 0; - out_2324287403941072643[192] = 0; - out_2324287403941072643[193] = 0; - out_2324287403941072643[194] = 0; - out_2324287403941072643[195] = 0; - out_2324287403941072643[196] = 0; - out_2324287403941072643[197] = 0; - out_2324287403941072643[198] = 0; - out_2324287403941072643[199] = 0; - out_2324287403941072643[200] = 0; - out_2324287403941072643[201] = 0; - out_2324287403941072643[202] = 0; - out_2324287403941072643[203] = 0; - out_2324287403941072643[204] = 0; - out_2324287403941072643[205] = 0; - out_2324287403941072643[206] = 0; - out_2324287403941072643[207] = 0; - out_2324287403941072643[208] = 0; - out_2324287403941072643[209] = 1; - out_2324287403941072643[210] = 0; - out_2324287403941072643[211] = 0; - out_2324287403941072643[212] = 0; - out_2324287403941072643[213] = 0; - out_2324287403941072643[214] = 0; - out_2324287403941072643[215] = 0; - out_2324287403941072643[216] = 0; - out_2324287403941072643[217] = 0; - out_2324287403941072643[218] = 0; - out_2324287403941072643[219] = 0; - out_2324287403941072643[220] = 0; - out_2324287403941072643[221] = 0; - out_2324287403941072643[222] = 0; - out_2324287403941072643[223] = 0; - out_2324287403941072643[224] = 0; - out_2324287403941072643[225] = 0; - out_2324287403941072643[226] = 0; - out_2324287403941072643[227] = 0; - out_2324287403941072643[228] = 1; - out_2324287403941072643[229] = 0; - out_2324287403941072643[230] = 0; - out_2324287403941072643[231] = 0; - out_2324287403941072643[232] = 0; - out_2324287403941072643[233] = 0; - out_2324287403941072643[234] = 0; - out_2324287403941072643[235] = 0; - out_2324287403941072643[236] = 0; - out_2324287403941072643[237] = 0; - out_2324287403941072643[238] = 0; - out_2324287403941072643[239] = 0; - out_2324287403941072643[240] = 0; - out_2324287403941072643[241] = 0; - out_2324287403941072643[242] = 0; - out_2324287403941072643[243] = 0; - out_2324287403941072643[244] = 0; - out_2324287403941072643[245] = 0; - out_2324287403941072643[246] = 0; - out_2324287403941072643[247] = 1; - out_2324287403941072643[248] = 0; - out_2324287403941072643[249] = 0; - out_2324287403941072643[250] = 0; - out_2324287403941072643[251] = 0; - out_2324287403941072643[252] = 0; - out_2324287403941072643[253] = 0; - out_2324287403941072643[254] = 0; - out_2324287403941072643[255] = 0; - out_2324287403941072643[256] = 0; - out_2324287403941072643[257] = 0; - out_2324287403941072643[258] = 0; - out_2324287403941072643[259] = 0; - out_2324287403941072643[260] = 0; - out_2324287403941072643[261] = 0; - out_2324287403941072643[262] = 0; - out_2324287403941072643[263] = 0; - out_2324287403941072643[264] = 0; - out_2324287403941072643[265] = 0; - out_2324287403941072643[266] = 1; - out_2324287403941072643[267] = 0; - out_2324287403941072643[268] = 0; - out_2324287403941072643[269] = 0; - out_2324287403941072643[270] = 0; - out_2324287403941072643[271] = 0; - out_2324287403941072643[272] = 0; - out_2324287403941072643[273] = 0; - out_2324287403941072643[274] = 0; - out_2324287403941072643[275] = 0; - out_2324287403941072643[276] = 0; - out_2324287403941072643[277] = 0; - out_2324287403941072643[278] = 0; - out_2324287403941072643[279] = 0; - out_2324287403941072643[280] = 0; - out_2324287403941072643[281] = 0; - out_2324287403941072643[282] = 0; - out_2324287403941072643[283] = 0; - out_2324287403941072643[284] = 0; - out_2324287403941072643[285] = 1; - out_2324287403941072643[286] = 0; - out_2324287403941072643[287] = 0; - out_2324287403941072643[288] = 0; - out_2324287403941072643[289] = 0; - out_2324287403941072643[290] = 0; - out_2324287403941072643[291] = 0; - out_2324287403941072643[292] = 0; - out_2324287403941072643[293] = 0; - out_2324287403941072643[294] = 0; - out_2324287403941072643[295] = 0; - out_2324287403941072643[296] = 0; - out_2324287403941072643[297] = 0; - out_2324287403941072643[298] = 0; - out_2324287403941072643[299] = 0; - out_2324287403941072643[300] = 0; - out_2324287403941072643[301] = 0; - out_2324287403941072643[302] = 0; - out_2324287403941072643[303] = 0; - out_2324287403941072643[304] = 1; - out_2324287403941072643[305] = 0; - out_2324287403941072643[306] = 0; - out_2324287403941072643[307] = 0; - out_2324287403941072643[308] = 0; - out_2324287403941072643[309] = 0; - out_2324287403941072643[310] = 0; - out_2324287403941072643[311] = 0; - out_2324287403941072643[312] = 0; - out_2324287403941072643[313] = 0; - out_2324287403941072643[314] = 0; - out_2324287403941072643[315] = 0; - out_2324287403941072643[316] = 0; - out_2324287403941072643[317] = 0; - out_2324287403941072643[318] = 0; - out_2324287403941072643[319] = 0; - out_2324287403941072643[320] = 0; - out_2324287403941072643[321] = 0; - out_2324287403941072643[322] = 0; - out_2324287403941072643[323] = 1; +void F_fun(double *state, double dt, double *out_2534421229889867694) { + out_2534421229889867694[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_2534421229889867694[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_2534421229889867694[2] = 0; + out_2534421229889867694[3] = 0; + out_2534421229889867694[4] = 0; + out_2534421229889867694[5] = 0; + out_2534421229889867694[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_2534421229889867694[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_2534421229889867694[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_2534421229889867694[9] = 0; + out_2534421229889867694[10] = 0; + out_2534421229889867694[11] = 0; + out_2534421229889867694[12] = 0; + out_2534421229889867694[13] = 0; + out_2534421229889867694[14] = 0; + out_2534421229889867694[15] = 0; + out_2534421229889867694[16] = 0; + out_2534421229889867694[17] = 0; + out_2534421229889867694[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_2534421229889867694[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_2534421229889867694[20] = 0; + out_2534421229889867694[21] = 0; + out_2534421229889867694[22] = 0; + out_2534421229889867694[23] = 0; + out_2534421229889867694[24] = 0; + out_2534421229889867694[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_2534421229889867694[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_2534421229889867694[27] = 0; + out_2534421229889867694[28] = 0; + out_2534421229889867694[29] = 0; + out_2534421229889867694[30] = 0; + out_2534421229889867694[31] = 0; + out_2534421229889867694[32] = 0; + out_2534421229889867694[33] = 0; + out_2534421229889867694[34] = 0; + out_2534421229889867694[35] = 0; + out_2534421229889867694[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_2534421229889867694[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_2534421229889867694[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_2534421229889867694[39] = 0; + out_2534421229889867694[40] = 0; + out_2534421229889867694[41] = 0; + out_2534421229889867694[42] = 0; + out_2534421229889867694[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_2534421229889867694[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_2534421229889867694[45] = 0; + out_2534421229889867694[46] = 0; + out_2534421229889867694[47] = 0; + out_2534421229889867694[48] = 0; + out_2534421229889867694[49] = 0; + out_2534421229889867694[50] = 0; + out_2534421229889867694[51] = 0; + out_2534421229889867694[52] = 0; + out_2534421229889867694[53] = 0; + out_2534421229889867694[54] = 0; + out_2534421229889867694[55] = 0; + out_2534421229889867694[56] = 0; + out_2534421229889867694[57] = 1; + out_2534421229889867694[58] = 0; + out_2534421229889867694[59] = 0; + out_2534421229889867694[60] = 0; + out_2534421229889867694[61] = 0; + out_2534421229889867694[62] = 0; + out_2534421229889867694[63] = 0; + out_2534421229889867694[64] = 0; + out_2534421229889867694[65] = 0; + out_2534421229889867694[66] = dt; + out_2534421229889867694[67] = 0; + out_2534421229889867694[68] = 0; + out_2534421229889867694[69] = 0; + out_2534421229889867694[70] = 0; + out_2534421229889867694[71] = 0; + out_2534421229889867694[72] = 0; + out_2534421229889867694[73] = 0; + out_2534421229889867694[74] = 0; + out_2534421229889867694[75] = 0; + out_2534421229889867694[76] = 1; + out_2534421229889867694[77] = 0; + out_2534421229889867694[78] = 0; + out_2534421229889867694[79] = 0; + out_2534421229889867694[80] = 0; + out_2534421229889867694[81] = 0; + out_2534421229889867694[82] = 0; + out_2534421229889867694[83] = 0; + out_2534421229889867694[84] = 0; + out_2534421229889867694[85] = dt; + out_2534421229889867694[86] = 0; + out_2534421229889867694[87] = 0; + out_2534421229889867694[88] = 0; + out_2534421229889867694[89] = 0; + out_2534421229889867694[90] = 0; + out_2534421229889867694[91] = 0; + out_2534421229889867694[92] = 0; + out_2534421229889867694[93] = 0; + out_2534421229889867694[94] = 0; + out_2534421229889867694[95] = 1; + out_2534421229889867694[96] = 0; + out_2534421229889867694[97] = 0; + out_2534421229889867694[98] = 0; + out_2534421229889867694[99] = 0; + out_2534421229889867694[100] = 0; + out_2534421229889867694[101] = 0; + out_2534421229889867694[102] = 0; + out_2534421229889867694[103] = 0; + out_2534421229889867694[104] = dt; + out_2534421229889867694[105] = 0; + out_2534421229889867694[106] = 0; + out_2534421229889867694[107] = 0; + out_2534421229889867694[108] = 0; + out_2534421229889867694[109] = 0; + out_2534421229889867694[110] = 0; + out_2534421229889867694[111] = 0; + out_2534421229889867694[112] = 0; + out_2534421229889867694[113] = 0; + out_2534421229889867694[114] = 1; + out_2534421229889867694[115] = 0; + out_2534421229889867694[116] = 0; + out_2534421229889867694[117] = 0; + out_2534421229889867694[118] = 0; + out_2534421229889867694[119] = 0; + out_2534421229889867694[120] = 0; + out_2534421229889867694[121] = 0; + out_2534421229889867694[122] = 0; + out_2534421229889867694[123] = 0; + out_2534421229889867694[124] = 0; + out_2534421229889867694[125] = 0; + out_2534421229889867694[126] = 0; + out_2534421229889867694[127] = 0; + out_2534421229889867694[128] = 0; + out_2534421229889867694[129] = 0; + out_2534421229889867694[130] = 0; + out_2534421229889867694[131] = 0; + out_2534421229889867694[132] = 0; + out_2534421229889867694[133] = 1; + out_2534421229889867694[134] = 0; + out_2534421229889867694[135] = 0; + out_2534421229889867694[136] = 0; + out_2534421229889867694[137] = 0; + out_2534421229889867694[138] = 0; + out_2534421229889867694[139] = 0; + out_2534421229889867694[140] = 0; + out_2534421229889867694[141] = 0; + out_2534421229889867694[142] = 0; + out_2534421229889867694[143] = 0; + out_2534421229889867694[144] = 0; + out_2534421229889867694[145] = 0; + out_2534421229889867694[146] = 0; + out_2534421229889867694[147] = 0; + out_2534421229889867694[148] = 0; + out_2534421229889867694[149] = 0; + out_2534421229889867694[150] = 0; + out_2534421229889867694[151] = 0; + out_2534421229889867694[152] = 1; + out_2534421229889867694[153] = 0; + out_2534421229889867694[154] = 0; + out_2534421229889867694[155] = 0; + out_2534421229889867694[156] = 0; + out_2534421229889867694[157] = 0; + out_2534421229889867694[158] = 0; + out_2534421229889867694[159] = 0; + out_2534421229889867694[160] = 0; + out_2534421229889867694[161] = 0; + out_2534421229889867694[162] = 0; + out_2534421229889867694[163] = 0; + out_2534421229889867694[164] = 0; + out_2534421229889867694[165] = 0; + out_2534421229889867694[166] = 0; + out_2534421229889867694[167] = 0; + out_2534421229889867694[168] = 0; + out_2534421229889867694[169] = 0; + out_2534421229889867694[170] = 0; + out_2534421229889867694[171] = 1; + out_2534421229889867694[172] = 0; + out_2534421229889867694[173] = 0; + out_2534421229889867694[174] = 0; + out_2534421229889867694[175] = 0; + out_2534421229889867694[176] = 0; + out_2534421229889867694[177] = 0; + out_2534421229889867694[178] = 0; + out_2534421229889867694[179] = 0; + out_2534421229889867694[180] = 0; + out_2534421229889867694[181] = 0; + out_2534421229889867694[182] = 0; + out_2534421229889867694[183] = 0; + out_2534421229889867694[184] = 0; + out_2534421229889867694[185] = 0; + out_2534421229889867694[186] = 0; + out_2534421229889867694[187] = 0; + out_2534421229889867694[188] = 0; + out_2534421229889867694[189] = 0; + out_2534421229889867694[190] = 1; + out_2534421229889867694[191] = 0; + out_2534421229889867694[192] = 0; + out_2534421229889867694[193] = 0; + out_2534421229889867694[194] = 0; + out_2534421229889867694[195] = 0; + out_2534421229889867694[196] = 0; + out_2534421229889867694[197] = 0; + out_2534421229889867694[198] = 0; + out_2534421229889867694[199] = 0; + out_2534421229889867694[200] = 0; + out_2534421229889867694[201] = 0; + out_2534421229889867694[202] = 0; + out_2534421229889867694[203] = 0; + out_2534421229889867694[204] = 0; + out_2534421229889867694[205] = 0; + out_2534421229889867694[206] = 0; + out_2534421229889867694[207] = 0; + out_2534421229889867694[208] = 0; + out_2534421229889867694[209] = 1; + out_2534421229889867694[210] = 0; + out_2534421229889867694[211] = 0; + out_2534421229889867694[212] = 0; + out_2534421229889867694[213] = 0; + out_2534421229889867694[214] = 0; + out_2534421229889867694[215] = 0; + out_2534421229889867694[216] = 0; + out_2534421229889867694[217] = 0; + out_2534421229889867694[218] = 0; + out_2534421229889867694[219] = 0; + out_2534421229889867694[220] = 0; + out_2534421229889867694[221] = 0; + out_2534421229889867694[222] = 0; + out_2534421229889867694[223] = 0; + out_2534421229889867694[224] = 0; + out_2534421229889867694[225] = 0; + out_2534421229889867694[226] = 0; + out_2534421229889867694[227] = 0; + out_2534421229889867694[228] = 1; + out_2534421229889867694[229] = 0; + out_2534421229889867694[230] = 0; + out_2534421229889867694[231] = 0; + out_2534421229889867694[232] = 0; + out_2534421229889867694[233] = 0; + out_2534421229889867694[234] = 0; + out_2534421229889867694[235] = 0; + out_2534421229889867694[236] = 0; + out_2534421229889867694[237] = 0; + out_2534421229889867694[238] = 0; + out_2534421229889867694[239] = 0; + out_2534421229889867694[240] = 0; + out_2534421229889867694[241] = 0; + out_2534421229889867694[242] = 0; + out_2534421229889867694[243] = 0; + out_2534421229889867694[244] = 0; + out_2534421229889867694[245] = 0; + out_2534421229889867694[246] = 0; + out_2534421229889867694[247] = 1; + out_2534421229889867694[248] = 0; + out_2534421229889867694[249] = 0; + out_2534421229889867694[250] = 0; + out_2534421229889867694[251] = 0; + out_2534421229889867694[252] = 0; + out_2534421229889867694[253] = 0; + out_2534421229889867694[254] = 0; + out_2534421229889867694[255] = 0; + out_2534421229889867694[256] = 0; + out_2534421229889867694[257] = 0; + out_2534421229889867694[258] = 0; + out_2534421229889867694[259] = 0; + out_2534421229889867694[260] = 0; + out_2534421229889867694[261] = 0; + out_2534421229889867694[262] = 0; + out_2534421229889867694[263] = 0; + out_2534421229889867694[264] = 0; + out_2534421229889867694[265] = 0; + out_2534421229889867694[266] = 1; + out_2534421229889867694[267] = 0; + out_2534421229889867694[268] = 0; + out_2534421229889867694[269] = 0; + out_2534421229889867694[270] = 0; + out_2534421229889867694[271] = 0; + out_2534421229889867694[272] = 0; + out_2534421229889867694[273] = 0; + out_2534421229889867694[274] = 0; + out_2534421229889867694[275] = 0; + out_2534421229889867694[276] = 0; + out_2534421229889867694[277] = 0; + out_2534421229889867694[278] = 0; + out_2534421229889867694[279] = 0; + out_2534421229889867694[280] = 0; + out_2534421229889867694[281] = 0; + out_2534421229889867694[282] = 0; + out_2534421229889867694[283] = 0; + out_2534421229889867694[284] = 0; + out_2534421229889867694[285] = 1; + out_2534421229889867694[286] = 0; + out_2534421229889867694[287] = 0; + out_2534421229889867694[288] = 0; + out_2534421229889867694[289] = 0; + out_2534421229889867694[290] = 0; + out_2534421229889867694[291] = 0; + out_2534421229889867694[292] = 0; + out_2534421229889867694[293] = 0; + out_2534421229889867694[294] = 0; + out_2534421229889867694[295] = 0; + out_2534421229889867694[296] = 0; + out_2534421229889867694[297] = 0; + out_2534421229889867694[298] = 0; + out_2534421229889867694[299] = 0; + out_2534421229889867694[300] = 0; + out_2534421229889867694[301] = 0; + out_2534421229889867694[302] = 0; + out_2534421229889867694[303] = 0; + out_2534421229889867694[304] = 1; + out_2534421229889867694[305] = 0; + out_2534421229889867694[306] = 0; + out_2534421229889867694[307] = 0; + out_2534421229889867694[308] = 0; + out_2534421229889867694[309] = 0; + out_2534421229889867694[310] = 0; + out_2534421229889867694[311] = 0; + out_2534421229889867694[312] = 0; + out_2534421229889867694[313] = 0; + out_2534421229889867694[314] = 0; + out_2534421229889867694[315] = 0; + out_2534421229889867694[316] = 0; + out_2534421229889867694[317] = 0; + out_2534421229889867694[318] = 0; + out_2534421229889867694[319] = 0; + out_2534421229889867694[320] = 0; + out_2534421229889867694[321] = 0; + out_2534421229889867694[322] = 0; + out_2534421229889867694[323] = 1; } -void h_4(double *state, double *unused, double *out_3295127809911230665) { - out_3295127809911230665[0] = state[6] + state[9]; - out_3295127809911230665[1] = state[7] + state[10]; - out_3295127809911230665[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_9104738239612597067) { + out_9104738239612597067[0] = state[6] + state[9]; + out_9104738239612597067[1] = state[7] + state[10]; + out_9104738239612597067[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8270265206520041021) { - out_8270265206520041021[0] = 0; - out_8270265206520041021[1] = 0; - out_8270265206520041021[2] = 0; - out_8270265206520041021[3] = 0; - out_8270265206520041021[4] = 0; - out_8270265206520041021[5] = 0; - out_8270265206520041021[6] = 1; - out_8270265206520041021[7] = 0; - out_8270265206520041021[8] = 0; - out_8270265206520041021[9] = 1; - out_8270265206520041021[10] = 0; - out_8270265206520041021[11] = 0; - out_8270265206520041021[12] = 0; - out_8270265206520041021[13] = 0; - out_8270265206520041021[14] = 0; - out_8270265206520041021[15] = 0; - out_8270265206520041021[16] = 0; - out_8270265206520041021[17] = 0; - out_8270265206520041021[18] = 0; - out_8270265206520041021[19] = 0; - out_8270265206520041021[20] = 0; - out_8270265206520041021[21] = 0; - out_8270265206520041021[22] = 0; - out_8270265206520041021[23] = 0; - out_8270265206520041021[24] = 0; - out_8270265206520041021[25] = 1; - out_8270265206520041021[26] = 0; - out_8270265206520041021[27] = 0; - out_8270265206520041021[28] = 1; - out_8270265206520041021[29] = 0; - out_8270265206520041021[30] = 0; - out_8270265206520041021[31] = 0; - out_8270265206520041021[32] = 0; - out_8270265206520041021[33] = 0; - out_8270265206520041021[34] = 0; - out_8270265206520041021[35] = 0; - out_8270265206520041021[36] = 0; - out_8270265206520041021[37] = 0; - out_8270265206520041021[38] = 0; - out_8270265206520041021[39] = 0; - out_8270265206520041021[40] = 0; - out_8270265206520041021[41] = 0; - out_8270265206520041021[42] = 0; - out_8270265206520041021[43] = 0; - out_8270265206520041021[44] = 1; - out_8270265206520041021[45] = 0; - out_8270265206520041021[46] = 0; - out_8270265206520041021[47] = 1; - out_8270265206520041021[48] = 0; - out_8270265206520041021[49] = 0; - out_8270265206520041021[50] = 0; - out_8270265206520041021[51] = 0; - out_8270265206520041021[52] = 0; - out_8270265206520041021[53] = 0; +void H_4(double *state, double *unused, double *out_804775948072585527) { + out_804775948072585527[0] = 0; + out_804775948072585527[1] = 0; + out_804775948072585527[2] = 0; + out_804775948072585527[3] = 0; + out_804775948072585527[4] = 0; + out_804775948072585527[5] = 0; + out_804775948072585527[6] = 1; + out_804775948072585527[7] = 0; + out_804775948072585527[8] = 0; + out_804775948072585527[9] = 1; + out_804775948072585527[10] = 0; + out_804775948072585527[11] = 0; + out_804775948072585527[12] = 0; + out_804775948072585527[13] = 0; + out_804775948072585527[14] = 0; + out_804775948072585527[15] = 0; + out_804775948072585527[16] = 0; + out_804775948072585527[17] = 0; + out_804775948072585527[18] = 0; + out_804775948072585527[19] = 0; + out_804775948072585527[20] = 0; + out_804775948072585527[21] = 0; + out_804775948072585527[22] = 0; + out_804775948072585527[23] = 0; + out_804775948072585527[24] = 0; + out_804775948072585527[25] = 1; + out_804775948072585527[26] = 0; + out_804775948072585527[27] = 0; + out_804775948072585527[28] = 1; + out_804775948072585527[29] = 0; + out_804775948072585527[30] = 0; + out_804775948072585527[31] = 0; + out_804775948072585527[32] = 0; + out_804775948072585527[33] = 0; + out_804775948072585527[34] = 0; + out_804775948072585527[35] = 0; + out_804775948072585527[36] = 0; + out_804775948072585527[37] = 0; + out_804775948072585527[38] = 0; + out_804775948072585527[39] = 0; + out_804775948072585527[40] = 0; + out_804775948072585527[41] = 0; + out_804775948072585527[42] = 0; + out_804775948072585527[43] = 0; + out_804775948072585527[44] = 1; + out_804775948072585527[45] = 0; + out_804775948072585527[46] = 0; + out_804775948072585527[47] = 1; + out_804775948072585527[48] = 0; + out_804775948072585527[49] = 0; + out_804775948072585527[50] = 0; + out_804775948072585527[51] = 0; + out_804775948072585527[52] = 0; + out_804775948072585527[53] = 0; } -void h_10(double *state, double *unused, double *out_3863591942336910664) { - out_3863591942336910664[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_3863591942336910664[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_3863591942336910664[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_2185381895971378953) { + out_2185381895971378953[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_2185381895971378953[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_2185381895971378953[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_6343727255885996060) { - out_6343727255885996060[0] = 0; - out_6343727255885996060[1] = 9.8100000000000005*cos(state[1]); - out_6343727255885996060[2] = 0; - out_6343727255885996060[3] = 0; - out_6343727255885996060[4] = -state[8]; - out_6343727255885996060[5] = state[7]; - out_6343727255885996060[6] = 0; - out_6343727255885996060[7] = state[5]; - out_6343727255885996060[8] = -state[4]; - out_6343727255885996060[9] = 0; - out_6343727255885996060[10] = 0; - out_6343727255885996060[11] = 0; - out_6343727255885996060[12] = 1; - out_6343727255885996060[13] = 0; - out_6343727255885996060[14] = 0; - out_6343727255885996060[15] = 1; - out_6343727255885996060[16] = 0; - out_6343727255885996060[17] = 0; - out_6343727255885996060[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6343727255885996060[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6343727255885996060[20] = 0; - out_6343727255885996060[21] = state[8]; - out_6343727255885996060[22] = 0; - out_6343727255885996060[23] = -state[6]; - out_6343727255885996060[24] = -state[5]; - out_6343727255885996060[25] = 0; - out_6343727255885996060[26] = state[3]; - out_6343727255885996060[27] = 0; - out_6343727255885996060[28] = 0; - out_6343727255885996060[29] = 0; - out_6343727255885996060[30] = 0; - out_6343727255885996060[31] = 1; - out_6343727255885996060[32] = 0; - out_6343727255885996060[33] = 0; - out_6343727255885996060[34] = 1; - out_6343727255885996060[35] = 0; - out_6343727255885996060[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6343727255885996060[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6343727255885996060[38] = 0; - out_6343727255885996060[39] = -state[7]; - out_6343727255885996060[40] = state[6]; - out_6343727255885996060[41] = 0; - out_6343727255885996060[42] = state[4]; - out_6343727255885996060[43] = -state[3]; - out_6343727255885996060[44] = 0; - out_6343727255885996060[45] = 0; - out_6343727255885996060[46] = 0; - out_6343727255885996060[47] = 0; - out_6343727255885996060[48] = 0; - out_6343727255885996060[49] = 0; - out_6343727255885996060[50] = 1; - out_6343727255885996060[51] = 0; - out_6343727255885996060[52] = 0; - out_6343727255885996060[53] = 1; +void H_10(double *state, double *unused, double *out_5839728363410394932) { + out_5839728363410394932[0] = 0; + out_5839728363410394932[1] = 9.8100000000000005*cos(state[1]); + out_5839728363410394932[2] = 0; + out_5839728363410394932[3] = 0; + out_5839728363410394932[4] = -state[8]; + out_5839728363410394932[5] = state[7]; + out_5839728363410394932[6] = 0; + out_5839728363410394932[7] = state[5]; + out_5839728363410394932[8] = -state[4]; + out_5839728363410394932[9] = 0; + out_5839728363410394932[10] = 0; + out_5839728363410394932[11] = 0; + out_5839728363410394932[12] = 1; + out_5839728363410394932[13] = 0; + out_5839728363410394932[14] = 0; + out_5839728363410394932[15] = 1; + out_5839728363410394932[16] = 0; + out_5839728363410394932[17] = 0; + out_5839728363410394932[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5839728363410394932[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5839728363410394932[20] = 0; + out_5839728363410394932[21] = state[8]; + out_5839728363410394932[22] = 0; + out_5839728363410394932[23] = -state[6]; + out_5839728363410394932[24] = -state[5]; + out_5839728363410394932[25] = 0; + out_5839728363410394932[26] = state[3]; + out_5839728363410394932[27] = 0; + out_5839728363410394932[28] = 0; + out_5839728363410394932[29] = 0; + out_5839728363410394932[30] = 0; + out_5839728363410394932[31] = 1; + out_5839728363410394932[32] = 0; + out_5839728363410394932[33] = 0; + out_5839728363410394932[34] = 1; + out_5839728363410394932[35] = 0; + out_5839728363410394932[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5839728363410394932[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5839728363410394932[38] = 0; + out_5839728363410394932[39] = -state[7]; + out_5839728363410394932[40] = state[6]; + out_5839728363410394932[41] = 0; + out_5839728363410394932[42] = state[4]; + out_5839728363410394932[43] = -state[3]; + out_5839728363410394932[44] = 0; + out_5839728363410394932[45] = 0; + out_5839728363410394932[46] = 0; + out_5839728363410394932[47] = 0; + out_5839728363410394932[48] = 0; + out_5839728363410394932[49] = 0; + out_5839728363410394932[50] = 1; + out_5839728363410394932[51] = 0; + out_5839728363410394932[52] = 0; + out_5839728363410394932[53] = 1; } -void h_13(double *state, double *unused, double *out_3880954183827223653) { - out_3880954183827223653[0] = state[3]; - out_3880954183827223653[1] = state[4]; - out_3880954183827223653[2] = state[5]; +void h_13(double *state, double *unused, double *out_2250384613419215699) { + out_2250384613419215699[0] = state[3]; + out_2250384613419215699[1] = state[4]; + out_2250384613419215699[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6964205041857177794) { - out_6964205041857177794[0] = 0; - out_6964205041857177794[1] = 0; - out_6964205041857177794[2] = 0; - out_6964205041857177794[3] = 1; - out_6964205041857177794[4] = 0; - out_6964205041857177794[5] = 0; - out_6964205041857177794[6] = 0; - out_6964205041857177794[7] = 0; - out_6964205041857177794[8] = 0; - out_6964205041857177794[9] = 0; - out_6964205041857177794[10] = 0; - out_6964205041857177794[11] = 0; - out_6964205041857177794[12] = 0; - out_6964205041857177794[13] = 0; - out_6964205041857177794[14] = 0; - out_6964205041857177794[15] = 0; - out_6964205041857177794[16] = 0; - out_6964205041857177794[17] = 0; - out_6964205041857177794[18] = 0; - out_6964205041857177794[19] = 0; - out_6964205041857177794[20] = 0; - out_6964205041857177794[21] = 0; - out_6964205041857177794[22] = 1; - out_6964205041857177794[23] = 0; - out_6964205041857177794[24] = 0; - out_6964205041857177794[25] = 0; - out_6964205041857177794[26] = 0; - out_6964205041857177794[27] = 0; - out_6964205041857177794[28] = 0; - out_6964205041857177794[29] = 0; - out_6964205041857177794[30] = 0; - out_6964205041857177794[31] = 0; - out_6964205041857177794[32] = 0; - out_6964205041857177794[33] = 0; - out_6964205041857177794[34] = 0; - out_6964205041857177794[35] = 0; - out_6964205041857177794[36] = 0; - out_6964205041857177794[37] = 0; - out_6964205041857177794[38] = 0; - out_6964205041857177794[39] = 0; - out_6964205041857177794[40] = 0; - out_6964205041857177794[41] = 1; - out_6964205041857177794[42] = 0; - out_6964205041857177794[43] = 0; - out_6964205041857177794[44] = 0; - out_6964205041857177794[45] = 0; - out_6964205041857177794[46] = 0; - out_6964205041857177794[47] = 0; - out_6964205041857177794[48] = 0; - out_6964205041857177794[49] = 0; - out_6964205041857177794[50] = 0; - out_6964205041857177794[51] = 0; - out_6964205041857177794[52] = 0; - out_6964205041857177794[53] = 0; +void H_13(double *state, double *unused, double *out_4017049773404918328) { + out_4017049773404918328[0] = 0; + out_4017049773404918328[1] = 0; + out_4017049773404918328[2] = 0; + out_4017049773404918328[3] = 1; + out_4017049773404918328[4] = 0; + out_4017049773404918328[5] = 0; + out_4017049773404918328[6] = 0; + out_4017049773404918328[7] = 0; + out_4017049773404918328[8] = 0; + out_4017049773404918328[9] = 0; + out_4017049773404918328[10] = 0; + out_4017049773404918328[11] = 0; + out_4017049773404918328[12] = 0; + out_4017049773404918328[13] = 0; + out_4017049773404918328[14] = 0; + out_4017049773404918328[15] = 0; + out_4017049773404918328[16] = 0; + out_4017049773404918328[17] = 0; + out_4017049773404918328[18] = 0; + out_4017049773404918328[19] = 0; + out_4017049773404918328[20] = 0; + out_4017049773404918328[21] = 0; + out_4017049773404918328[22] = 1; + out_4017049773404918328[23] = 0; + out_4017049773404918328[24] = 0; + out_4017049773404918328[25] = 0; + out_4017049773404918328[26] = 0; + out_4017049773404918328[27] = 0; + out_4017049773404918328[28] = 0; + out_4017049773404918328[29] = 0; + out_4017049773404918328[30] = 0; + out_4017049773404918328[31] = 0; + out_4017049773404918328[32] = 0; + out_4017049773404918328[33] = 0; + out_4017049773404918328[34] = 0; + out_4017049773404918328[35] = 0; + out_4017049773404918328[36] = 0; + out_4017049773404918328[37] = 0; + out_4017049773404918328[38] = 0; + out_4017049773404918328[39] = 0; + out_4017049773404918328[40] = 0; + out_4017049773404918328[41] = 1; + out_4017049773404918328[42] = 0; + out_4017049773404918328[43] = 0; + out_4017049773404918328[44] = 0; + out_4017049773404918328[45] = 0; + out_4017049773404918328[46] = 0; + out_4017049773404918328[47] = 0; + out_4017049773404918328[48] = 0; + out_4017049773404918328[49] = 0; + out_4017049773404918328[50] = 0; + out_4017049773404918328[51] = 0; + out_4017049773404918328[52] = 0; + out_4017049773404918328[53] = 0; } -void h_14(double *state, double *unused, double *out_8209348319732836111) { - out_8209348319732836111[0] = state[6]; - out_8209348319732836111[1] = state[7]; - out_8209348319732836111[2] = state[8]; +void h_14(double *state, double *unused, double *out_3608499155932113812) { + out_3608499155932113812[0] = state[6]; + out_3608499155932113812[1] = state[7]; + out_3608499155932113812[2] = state[8]; } -void H_14(double *state, double *unused, double *out_5187476774224668725) { - out_5187476774224668725[0] = 0; - out_5187476774224668725[1] = 0; - out_5187476774224668725[2] = 0; - out_5187476774224668725[3] = 0; - out_5187476774224668725[4] = 0; - out_5187476774224668725[5] = 0; - out_5187476774224668725[6] = 1; - out_5187476774224668725[7] = 0; - out_5187476774224668725[8] = 0; - out_5187476774224668725[9] = 0; - out_5187476774224668725[10] = 0; - out_5187476774224668725[11] = 0; - out_5187476774224668725[12] = 0; - out_5187476774224668725[13] = 0; - out_5187476774224668725[14] = 0; - out_5187476774224668725[15] = 0; - out_5187476774224668725[16] = 0; - out_5187476774224668725[17] = 0; - out_5187476774224668725[18] = 0; - out_5187476774224668725[19] = 0; - out_5187476774224668725[20] = 0; - out_5187476774224668725[21] = 0; - out_5187476774224668725[22] = 0; - out_5187476774224668725[23] = 0; - out_5187476774224668725[24] = 0; - out_5187476774224668725[25] = 1; - out_5187476774224668725[26] = 0; - out_5187476774224668725[27] = 0; - out_5187476774224668725[28] = 0; - out_5187476774224668725[29] = 0; - out_5187476774224668725[30] = 0; - out_5187476774224668725[31] = 0; - out_5187476774224668725[32] = 0; - out_5187476774224668725[33] = 0; - out_5187476774224668725[34] = 0; - out_5187476774224668725[35] = 0; - out_5187476774224668725[36] = 0; - out_5187476774224668725[37] = 0; - out_5187476774224668725[38] = 0; - out_5187476774224668725[39] = 0; - out_5187476774224668725[40] = 0; - out_5187476774224668725[41] = 0; - out_5187476774224668725[42] = 0; - out_5187476774224668725[43] = 0; - out_5187476774224668725[44] = 1; - out_5187476774224668725[45] = 0; - out_5187476774224668725[46] = 0; - out_5187476774224668725[47] = 0; - out_5187476774224668725[48] = 0; - out_5187476774224668725[49] = 0; - out_5187476774224668725[50] = 0; - out_5187476774224668725[51] = 0; - out_5187476774224668725[52] = 0; - out_5187476774224668725[53] = 0; +void H_14(double *state, double *unused, double *out_2278012484222786769) { + out_2278012484222786769[0] = 0; + out_2278012484222786769[1] = 0; + out_2278012484222786769[2] = 0; + out_2278012484222786769[3] = 0; + out_2278012484222786769[4] = 0; + out_2278012484222786769[5] = 0; + out_2278012484222786769[6] = 1; + out_2278012484222786769[7] = 0; + out_2278012484222786769[8] = 0; + out_2278012484222786769[9] = 0; + out_2278012484222786769[10] = 0; + out_2278012484222786769[11] = 0; + out_2278012484222786769[12] = 0; + out_2278012484222786769[13] = 0; + out_2278012484222786769[14] = 0; + out_2278012484222786769[15] = 0; + out_2278012484222786769[16] = 0; + out_2278012484222786769[17] = 0; + out_2278012484222786769[18] = 0; + out_2278012484222786769[19] = 0; + out_2278012484222786769[20] = 0; + out_2278012484222786769[21] = 0; + out_2278012484222786769[22] = 0; + out_2278012484222786769[23] = 0; + out_2278012484222786769[24] = 0; + out_2278012484222786769[25] = 1; + out_2278012484222786769[26] = 0; + out_2278012484222786769[27] = 0; + out_2278012484222786769[28] = 0; + out_2278012484222786769[29] = 0; + out_2278012484222786769[30] = 0; + out_2278012484222786769[31] = 0; + out_2278012484222786769[32] = 0; + out_2278012484222786769[33] = 0; + out_2278012484222786769[34] = 0; + out_2278012484222786769[35] = 0; + out_2278012484222786769[36] = 0; + out_2278012484222786769[37] = 0; + out_2278012484222786769[38] = 0; + out_2278012484222786769[39] = 0; + out_2278012484222786769[40] = 0; + out_2278012484222786769[41] = 0; + out_2278012484222786769[42] = 0; + out_2278012484222786769[43] = 0; + out_2278012484222786769[44] = 1; + out_2278012484222786769[45] = 0; + out_2278012484222786769[46] = 0; + out_2278012484222786769[47] = 0; + out_2278012484222786769[48] = 0; + out_2278012484222786769[49] = 0; + out_2278012484222786769[50] = 0; + out_2278012484222786769[51] = 0; + out_2278012484222786769[52] = 0; + out_2278012484222786769[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_6169503642516981710) { - err_fun(nom_x, delta_x, out_6169503642516981710); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5715232905817063541) { + err_fun(nom_x, delta_x, out_5715232905817063541); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2781558835044378693) { - inv_err_fun(nom_x, true_x, out_2781558835044378693); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5652160587936785451) { + inv_err_fun(nom_x, true_x, out_5652160587936785451); } -void pose_H_mod_fun(double *state, double *out_4498457996676133449) { - H_mod_fun(state, out_4498457996676133449); +void pose_H_mod_fun(double *state, double *out_4347742436966495208) { + H_mod_fun(state, out_4347742436966495208); } -void pose_f_fun(double *state, double dt, double *out_3471362747861957887) { - f_fun(state, dt, out_3471362747861957887); +void pose_f_fun(double *state, double dt, double *out_4741478081702887425) { + f_fun(state, dt, out_4741478081702887425); } -void pose_F_fun(double *state, double dt, double *out_2324287403941072643) { - F_fun(state, dt, out_2324287403941072643); +void pose_F_fun(double *state, double dt, double *out_2534421229889867694) { + F_fun(state, dt, out_2534421229889867694); } -void pose_h_4(double *state, double *unused, double *out_3295127809911230665) { - h_4(state, unused, out_3295127809911230665); +void pose_h_4(double *state, double *unused, double *out_9104738239612597067) { + h_4(state, unused, out_9104738239612597067); } -void pose_H_4(double *state, double *unused, double *out_8270265206520041021) { - H_4(state, unused, out_8270265206520041021); +void pose_H_4(double *state, double *unused, double *out_804775948072585527) { + H_4(state, unused, out_804775948072585527); } -void pose_h_10(double *state, double *unused, double *out_3863591942336910664) { - h_10(state, unused, out_3863591942336910664); +void pose_h_10(double *state, double *unused, double *out_2185381895971378953) { + h_10(state, unused, out_2185381895971378953); } -void pose_H_10(double *state, double *unused, double *out_6343727255885996060) { - H_10(state, unused, out_6343727255885996060); +void pose_H_10(double *state, double *unused, double *out_5839728363410394932) { + H_10(state, unused, out_5839728363410394932); } -void pose_h_13(double *state, double *unused, double *out_3880954183827223653) { - h_13(state, unused, out_3880954183827223653); +void pose_h_13(double *state, double *unused, double *out_2250384613419215699) { + h_13(state, unused, out_2250384613419215699); } -void pose_H_13(double *state, double *unused, double *out_6964205041857177794) { - H_13(state, unused, out_6964205041857177794); +void pose_H_13(double *state, double *unused, double *out_4017049773404918328) { + H_13(state, unused, out_4017049773404918328); } -void pose_h_14(double *state, double *unused, double *out_8209348319732836111) { - h_14(state, unused, out_8209348319732836111); +void pose_h_14(double *state, double *unused, double *out_3608499155932113812) { + h_14(state, unused, out_3608499155932113812); } -void pose_H_14(double *state, double *unused, double *out_5187476774224668725) { - H_14(state, unused, out_5187476774224668725); +void pose_H_14(double *state, double *unused, double *out_2278012484222786769) { + H_14(state, unused, out_2278012484222786769); } 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 2d797114d..a5cf028cf 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_6169503642516981710); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2781558835044378693); -void pose_H_mod_fun(double *state, double *out_4498457996676133449); -void pose_f_fun(double *state, double dt, double *out_3471362747861957887); -void pose_F_fun(double *state, double dt, double *out_2324287403941072643); -void pose_h_4(double *state, double *unused, double *out_3295127809911230665); -void pose_H_4(double *state, double *unused, double *out_8270265206520041021); -void pose_h_10(double *state, double *unused, double *out_3863591942336910664); -void pose_H_10(double *state, double *unused, double *out_6343727255885996060); -void pose_h_13(double *state, double *unused, double *out_3880954183827223653); -void pose_H_13(double *state, double *unused, double *out_6964205041857177794); -void pose_h_14(double *state, double *unused, double *out_8209348319732836111); -void pose_H_14(double *state, double *unused, double *out_5187476774224668725); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5715232905817063541); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5652160587936785451); +void pose_H_mod_fun(double *state, double *out_4347742436966495208); +void pose_f_fun(double *state, double dt, double *out_4741478081702887425); +void pose_F_fun(double *state, double dt, double *out_2534421229889867694); +void pose_h_4(double *state, double *unused, double *out_9104738239612597067); +void pose_H_4(double *state, double *unused, double *out_804775948072585527); +void pose_h_10(double *state, double *unused, double *out_2185381895971378953); +void pose_H_10(double *state, double *unused, double *out_5839728363410394932); +void pose_h_13(double *state, double *unused, double *out_2250384613419215699); +void pose_H_13(double *state, double *unused, double *out_4017049773404918328); +void pose_h_14(double *state, double *unused, double *out_3608499155932113812); +void pose_H_14(double *state, double *unused, double *out_2278012484222786769); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 6f0a8f9a27f69ba2cc10d5e0852d2699dc2701b1..ca4b881b61d56b148d0eba7808b98674de1669d8 100755 GIT binary patch delta 728016 zcmaH!3wTpS+Q(1Q23kN(rL;{!NCBlFmlOmFDx`o?5HUs6BB&{#7DY|b)uM&;pvd#dWp|DfKXHp5{MGCt$d@)rqzDi+_hW||Uj5jLm)$kT- zWgJ!5r{Vo%n`g_l{f%7nY~x)14ShwxK}{8+3aDI{Jvc((u!bj+$$08pvieaC&!%R^ z=O`T0a0PWTzEa`1hHs>TGl6RrPH4D}%FeWnvjwOID%(EVj3bxv7g>+uAFLAR zzkf}hnQ9F;QyJs8l<`^(e?&Em2M?6S>oojdYGnMID&3&r{nYM5Bl#(-464v7r>I{- zQ@N?6Oq{OzD*Ki&cEr2VW4_3v) z(nv^CImraJZKCZE&xt=GRV|vz*e3JiTE181C$#)5DmWXy6I6CKeEZ&&rJY^YYR0Js z*tU^2L+oscem6zJtNKj$FhWk*~Lb!@j$wH_Sd!><(rgBpiu{ zDnGSCl^<3(q2ctuko_FnSX+pS&Ver@ElZAoZfmuIQ~_+Oq1ETWSFpEKm1?ReHM5bV z!hQ|^k2+Br_@k&vc}QW>!AdRlQVT*Z!&suoR^q((O4aY~%f@K4mv_?pM$ zh|T!fTAddt>pWniLE=IU2dU&d1e&BOs4!J*z>zCao+FwjsEM7_%Bng#z^cF!sfuZ; 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