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b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index 6be797ed3..c0d08b2b1 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index d0aedc781..3e21ca411 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 28d74913d..2ce02a202 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index adc4fbe93..029e1e30c 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-2b065db2-DEBUG \ No newline at end of file +DEV-03f63086-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 31acc5e69..f6d1db02a 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_5469727734415202139) { - out_5469727734415202139[0] = delta_x[0] + nom_x[0]; - out_5469727734415202139[1] = delta_x[1] + nom_x[1]; - out_5469727734415202139[2] = delta_x[2] + nom_x[2]; - out_5469727734415202139[3] = delta_x[3] + nom_x[3]; - out_5469727734415202139[4] = delta_x[4] + nom_x[4]; - out_5469727734415202139[5] = delta_x[5] + nom_x[5]; - out_5469727734415202139[6] = delta_x[6] + nom_x[6]; - out_5469727734415202139[7] = delta_x[7] + nom_x[7]; - out_5469727734415202139[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_6228234881733864934) { + out_6228234881733864934[0] = delta_x[0] + nom_x[0]; + out_6228234881733864934[1] = delta_x[1] + nom_x[1]; + out_6228234881733864934[2] = delta_x[2] + nom_x[2]; + out_6228234881733864934[3] = delta_x[3] + nom_x[3]; + out_6228234881733864934[4] = delta_x[4] + nom_x[4]; + out_6228234881733864934[5] = delta_x[5] + nom_x[5]; + out_6228234881733864934[6] = delta_x[6] + nom_x[6]; + out_6228234881733864934[7] = delta_x[7] + nom_x[7]; + out_6228234881733864934[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510) { - out_9043415007849521510[0] = -nom_x[0] + true_x[0]; - out_9043415007849521510[1] = -nom_x[1] + true_x[1]; - out_9043415007849521510[2] = -nom_x[2] + true_x[2]; - out_9043415007849521510[3] = -nom_x[3] + true_x[3]; - out_9043415007849521510[4] = -nom_x[4] + true_x[4]; - out_9043415007849521510[5] = -nom_x[5] + true_x[5]; - out_9043415007849521510[6] = -nom_x[6] + true_x[6]; - out_9043415007849521510[7] = -nom_x[7] + true_x[7]; - out_9043415007849521510[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4987639609546586613) { + out_4987639609546586613[0] = -nom_x[0] + true_x[0]; + out_4987639609546586613[1] = -nom_x[1] + true_x[1]; + out_4987639609546586613[2] = -nom_x[2] + true_x[2]; + out_4987639609546586613[3] = -nom_x[3] + true_x[3]; + out_4987639609546586613[4] = -nom_x[4] + true_x[4]; + out_4987639609546586613[5] = -nom_x[5] + true_x[5]; + out_4987639609546586613[6] = -nom_x[6] + true_x[6]; + out_4987639609546586613[7] = -nom_x[7] + true_x[7]; + out_4987639609546586613[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3975286947566256014) { - out_3975286947566256014[0] = 1.0; - out_3975286947566256014[1] = 0.0; - out_3975286947566256014[2] = 0.0; - out_3975286947566256014[3] = 0.0; - out_3975286947566256014[4] = 0.0; - out_3975286947566256014[5] = 0.0; - out_3975286947566256014[6] = 0.0; - out_3975286947566256014[7] = 0.0; - out_3975286947566256014[8] = 0.0; - out_3975286947566256014[9] = 0.0; - out_3975286947566256014[10] = 1.0; - out_3975286947566256014[11] = 0.0; - out_3975286947566256014[12] = 0.0; - out_3975286947566256014[13] = 0.0; - out_3975286947566256014[14] = 0.0; - out_3975286947566256014[15] = 0.0; - out_3975286947566256014[16] = 0.0; - out_3975286947566256014[17] = 0.0; - out_3975286947566256014[18] = 0.0; - out_3975286947566256014[19] = 0.0; - out_3975286947566256014[20] = 1.0; - out_3975286947566256014[21] = 0.0; - out_3975286947566256014[22] = 0.0; - out_3975286947566256014[23] = 0.0; - out_3975286947566256014[24] = 0.0; - out_3975286947566256014[25] = 0.0; - out_3975286947566256014[26] = 0.0; - out_3975286947566256014[27] = 0.0; - out_3975286947566256014[28] = 0.0; - out_3975286947566256014[29] = 0.0; - out_3975286947566256014[30] = 1.0; - out_3975286947566256014[31] = 0.0; - out_3975286947566256014[32] = 0.0; - out_3975286947566256014[33] = 0.0; - out_3975286947566256014[34] = 0.0; - out_3975286947566256014[35] = 0.0; - out_3975286947566256014[36] = 0.0; - out_3975286947566256014[37] = 0.0; - out_3975286947566256014[38] = 0.0; - out_3975286947566256014[39] = 0.0; - out_3975286947566256014[40] = 1.0; - out_3975286947566256014[41] = 0.0; - out_3975286947566256014[42] = 0.0; - out_3975286947566256014[43] = 0.0; - out_3975286947566256014[44] = 0.0; - out_3975286947566256014[45] = 0.0; - out_3975286947566256014[46] = 0.0; - out_3975286947566256014[47] = 0.0; - out_3975286947566256014[48] = 0.0; - out_3975286947566256014[49] = 0.0; - out_3975286947566256014[50] = 1.0; - out_3975286947566256014[51] = 0.0; - out_3975286947566256014[52] = 0.0; - out_3975286947566256014[53] = 0.0; - out_3975286947566256014[54] = 0.0; - out_3975286947566256014[55] = 0.0; - out_3975286947566256014[56] = 0.0; - out_3975286947566256014[57] = 0.0; - out_3975286947566256014[58] = 0.0; - out_3975286947566256014[59] = 0.0; - out_3975286947566256014[60] = 1.0; - out_3975286947566256014[61] = 0.0; - out_3975286947566256014[62] = 0.0; - out_3975286947566256014[63] = 0.0; - out_3975286947566256014[64] = 0.0; - out_3975286947566256014[65] = 0.0; - out_3975286947566256014[66] = 0.0; - out_3975286947566256014[67] = 0.0; - out_3975286947566256014[68] = 0.0; - out_3975286947566256014[69] = 0.0; - out_3975286947566256014[70] = 1.0; - out_3975286947566256014[71] = 0.0; - out_3975286947566256014[72] = 0.0; - out_3975286947566256014[73] = 0.0; - out_3975286947566256014[74] = 0.0; - out_3975286947566256014[75] = 0.0; - out_3975286947566256014[76] = 0.0; - out_3975286947566256014[77] = 0.0; - out_3975286947566256014[78] = 0.0; - out_3975286947566256014[79] = 0.0; - out_3975286947566256014[80] = 1.0; +void H_mod_fun(double *state, double *out_7231986235693649664) { + out_7231986235693649664[0] = 1.0; + out_7231986235693649664[1] = 0.0; + out_7231986235693649664[2] = 0.0; + out_7231986235693649664[3] = 0.0; + out_7231986235693649664[4] = 0.0; + out_7231986235693649664[5] = 0.0; + out_7231986235693649664[6] = 0.0; + out_7231986235693649664[7] = 0.0; + out_7231986235693649664[8] = 0.0; + out_7231986235693649664[9] = 0.0; + out_7231986235693649664[10] = 1.0; + out_7231986235693649664[11] = 0.0; + out_7231986235693649664[12] = 0.0; + out_7231986235693649664[13] = 0.0; + out_7231986235693649664[14] = 0.0; + out_7231986235693649664[15] = 0.0; + out_7231986235693649664[16] = 0.0; + out_7231986235693649664[17] = 0.0; + out_7231986235693649664[18] = 0.0; + out_7231986235693649664[19] = 0.0; + out_7231986235693649664[20] = 1.0; + out_7231986235693649664[21] = 0.0; + out_7231986235693649664[22] = 0.0; + out_7231986235693649664[23] = 0.0; + out_7231986235693649664[24] = 0.0; + out_7231986235693649664[25] = 0.0; + out_7231986235693649664[26] = 0.0; + out_7231986235693649664[27] = 0.0; + out_7231986235693649664[28] = 0.0; + out_7231986235693649664[29] = 0.0; + out_7231986235693649664[30] = 1.0; + out_7231986235693649664[31] = 0.0; + out_7231986235693649664[32] = 0.0; + out_7231986235693649664[33] = 0.0; + out_7231986235693649664[34] = 0.0; + out_7231986235693649664[35] = 0.0; + out_7231986235693649664[36] = 0.0; + out_7231986235693649664[37] = 0.0; + out_7231986235693649664[38] = 0.0; + out_7231986235693649664[39] = 0.0; + out_7231986235693649664[40] = 1.0; + out_7231986235693649664[41] = 0.0; + out_7231986235693649664[42] = 0.0; + out_7231986235693649664[43] = 0.0; + out_7231986235693649664[44] = 0.0; + out_7231986235693649664[45] = 0.0; + out_7231986235693649664[46] = 0.0; + out_7231986235693649664[47] = 0.0; + out_7231986235693649664[48] = 0.0; + out_7231986235693649664[49] = 0.0; + out_7231986235693649664[50] = 1.0; + out_7231986235693649664[51] = 0.0; + out_7231986235693649664[52] = 0.0; + out_7231986235693649664[53] = 0.0; + out_7231986235693649664[54] = 0.0; + out_7231986235693649664[55] = 0.0; + out_7231986235693649664[56] = 0.0; + out_7231986235693649664[57] = 0.0; + out_7231986235693649664[58] = 0.0; + out_7231986235693649664[59] = 0.0; + out_7231986235693649664[60] = 1.0; + out_7231986235693649664[61] = 0.0; + out_7231986235693649664[62] = 0.0; + out_7231986235693649664[63] = 0.0; + out_7231986235693649664[64] = 0.0; + out_7231986235693649664[65] = 0.0; + out_7231986235693649664[66] = 0.0; + out_7231986235693649664[67] = 0.0; + out_7231986235693649664[68] = 0.0; + out_7231986235693649664[69] = 0.0; + out_7231986235693649664[70] = 1.0; + out_7231986235693649664[71] = 0.0; + out_7231986235693649664[72] = 0.0; + out_7231986235693649664[73] = 0.0; + out_7231986235693649664[74] = 0.0; + out_7231986235693649664[75] = 0.0; + out_7231986235693649664[76] = 0.0; + out_7231986235693649664[77] = 0.0; + out_7231986235693649664[78] = 0.0; + out_7231986235693649664[79] = 0.0; + out_7231986235693649664[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1399233721380390552) { - out_1399233721380390552[0] = state[0]; - out_1399233721380390552[1] = state[1]; - out_1399233721380390552[2] = state[2]; - out_1399233721380390552[3] = state[3]; - out_1399233721380390552[4] = state[4]; - out_1399233721380390552[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_1399233721380390552[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_1399233721380390552[7] = state[7]; - out_1399233721380390552[8] = state[8]; +void f_fun(double *state, double dt, double *out_230288838788838657) { + out_230288838788838657[0] = state[0]; + out_230288838788838657[1] = state[1]; + out_230288838788838657[2] = state[2]; + out_230288838788838657[3] = state[3]; + out_230288838788838657[4] = state[4]; + out_230288838788838657[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_230288838788838657[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_230288838788838657[7] = state[7]; + out_230288838788838657[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1547855628850571031) { - out_1547855628850571031[0] = 1; - out_1547855628850571031[1] = 0; - out_1547855628850571031[2] = 0; - out_1547855628850571031[3] = 0; - out_1547855628850571031[4] = 0; - out_1547855628850571031[5] = 0; - out_1547855628850571031[6] = 0; - out_1547855628850571031[7] = 0; - out_1547855628850571031[8] = 0; - out_1547855628850571031[9] = 0; - out_1547855628850571031[10] = 1; - out_1547855628850571031[11] = 0; - out_1547855628850571031[12] = 0; - out_1547855628850571031[13] = 0; - out_1547855628850571031[14] = 0; - out_1547855628850571031[15] = 0; - out_1547855628850571031[16] = 0; - out_1547855628850571031[17] = 0; - out_1547855628850571031[18] = 0; - out_1547855628850571031[19] = 0; - out_1547855628850571031[20] = 1; - out_1547855628850571031[21] = 0; - out_1547855628850571031[22] = 0; - out_1547855628850571031[23] = 0; - out_1547855628850571031[24] = 0; - out_1547855628850571031[25] = 0; - out_1547855628850571031[26] = 0; - out_1547855628850571031[27] = 0; - out_1547855628850571031[28] = 0; - out_1547855628850571031[29] = 0; - out_1547855628850571031[30] = 1; - out_1547855628850571031[31] = 0; - out_1547855628850571031[32] = 0; - out_1547855628850571031[33] = 0; - out_1547855628850571031[34] = 0; - out_1547855628850571031[35] = 0; - out_1547855628850571031[36] = 0; - out_1547855628850571031[37] = 0; - out_1547855628850571031[38] = 0; - out_1547855628850571031[39] = 0; - out_1547855628850571031[40] = 1; - out_1547855628850571031[41] = 0; - out_1547855628850571031[42] = 0; - out_1547855628850571031[43] = 0; - out_1547855628850571031[44] = 0; - out_1547855628850571031[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_1547855628850571031[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1547855628850571031[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1547855628850571031[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1547855628850571031[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_1547855628850571031[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1547855628850571031[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1547855628850571031[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1547855628850571031[53] = -9.8100000000000005*dt; - out_1547855628850571031[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_1547855628850571031[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1547855628850571031[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1547855628850571031[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1547855628850571031[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_1547855628850571031[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1547855628850571031[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_1547855628850571031[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1547855628850571031[62] = 0; - out_1547855628850571031[63] = 0; - out_1547855628850571031[64] = 0; - out_1547855628850571031[65] = 0; - out_1547855628850571031[66] = 0; - out_1547855628850571031[67] = 0; - out_1547855628850571031[68] = 0; - out_1547855628850571031[69] = 0; - out_1547855628850571031[70] = 1; - out_1547855628850571031[71] = 0; - out_1547855628850571031[72] = 0; - out_1547855628850571031[73] = 0; - out_1547855628850571031[74] = 0; - out_1547855628850571031[75] = 0; - out_1547855628850571031[76] = 0; - out_1547855628850571031[77] = 0; - out_1547855628850571031[78] = 0; - out_1547855628850571031[79] = 0; - out_1547855628850571031[80] = 1; +void F_fun(double *state, double dt, double *out_6053955851441441421) { + out_6053955851441441421[0] = 1; + out_6053955851441441421[1] = 0; + out_6053955851441441421[2] = 0; + out_6053955851441441421[3] = 0; + out_6053955851441441421[4] = 0; + out_6053955851441441421[5] = 0; + out_6053955851441441421[6] = 0; + out_6053955851441441421[7] = 0; + out_6053955851441441421[8] = 0; + out_6053955851441441421[9] = 0; + out_6053955851441441421[10] = 1; + out_6053955851441441421[11] = 0; + out_6053955851441441421[12] = 0; + out_6053955851441441421[13] = 0; + out_6053955851441441421[14] = 0; + out_6053955851441441421[15] = 0; + out_6053955851441441421[16] = 0; + out_6053955851441441421[17] = 0; + out_6053955851441441421[18] = 0; + out_6053955851441441421[19] = 0; + out_6053955851441441421[20] = 1; + out_6053955851441441421[21] = 0; + out_6053955851441441421[22] = 0; + out_6053955851441441421[23] = 0; + out_6053955851441441421[24] = 0; + out_6053955851441441421[25] = 0; + out_6053955851441441421[26] = 0; + out_6053955851441441421[27] = 0; + out_6053955851441441421[28] = 0; + out_6053955851441441421[29] = 0; + out_6053955851441441421[30] = 1; + out_6053955851441441421[31] = 0; + out_6053955851441441421[32] = 0; + out_6053955851441441421[33] = 0; + out_6053955851441441421[34] = 0; + out_6053955851441441421[35] = 0; + out_6053955851441441421[36] = 0; + out_6053955851441441421[37] = 0; + out_6053955851441441421[38] = 0; + out_6053955851441441421[39] = 0; + out_6053955851441441421[40] = 1; + out_6053955851441441421[41] = 0; + out_6053955851441441421[42] = 0; + out_6053955851441441421[43] = 0; + out_6053955851441441421[44] = 0; + out_6053955851441441421[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_6053955851441441421[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6053955851441441421[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6053955851441441421[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6053955851441441421[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_6053955851441441421[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6053955851441441421[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6053955851441441421[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6053955851441441421[53] = -9.8100000000000005*dt; + out_6053955851441441421[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_6053955851441441421[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6053955851441441421[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6053955851441441421[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6053955851441441421[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_6053955851441441421[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6053955851441441421[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_6053955851441441421[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6053955851441441421[62] = 0; + out_6053955851441441421[63] = 0; + out_6053955851441441421[64] = 0; + out_6053955851441441421[65] = 0; + out_6053955851441441421[66] = 0; + out_6053955851441441421[67] = 0; + out_6053955851441441421[68] = 0; + out_6053955851441441421[69] = 0; + out_6053955851441441421[70] = 1; + out_6053955851441441421[71] = 0; + out_6053955851441441421[72] = 0; + out_6053955851441441421[73] = 0; + out_6053955851441441421[74] = 0; + out_6053955851441441421[75] = 0; + out_6053955851441441421[76] = 0; + out_6053955851441441421[77] = 0; + out_6053955851441441421[78] = 0; + out_6053955851441441421[79] = 0; + out_6053955851441441421[80] = 1; } -void h_25(double *state, double *unused, double *out_4999223901660539793) { - out_4999223901660539793[0] = state[6]; +void h_25(double *state, double *unused, double *out_6486517394319225831) { + out_6486517394319225831[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5217901278345981223) { - out_5217901278345981223[0] = 0; - out_5217901278345981223[1] = 0; - out_5217901278345981223[2] = 0; - out_5217901278345981223[3] = 0; - out_5217901278345981223[4] = 0; - out_5217901278345981223[5] = 0; - out_5217901278345981223[6] = 1; - out_5217901278345981223[7] = 0; - out_5217901278345981223[8] = 0; +void H_25(double *state, double *unused, double *out_2437155392765780555) { + out_2437155392765780555[0] = 0; + out_2437155392765780555[1] = 0; + out_2437155392765780555[2] = 0; + out_2437155392765780555[3] = 0; + out_2437155392765780555[4] = 0; + out_2437155392765780555[5] = 0; + out_2437155392765780555[6] = 1; + out_2437155392765780555[7] = 0; + out_2437155392765780555[8] = 0; } -void h_24(double *state, double *unused, double *out_6882293632162622150) { - out_6882293632162622150[0] = state[4]; - out_6882293632162622150[1] = state[5]; +void h_24(double *state, double *unused, double *out_2812983764171647921) { + out_2812983764171647921[0] = state[4]; + out_2812983764171647921[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1436304179762204534) { - out_1436304179762204534[0] = 0; - out_1436304179762204534[1] = 0; - out_1436304179762204534[2] = 0; - out_1436304179762204534[3] = 0; - out_1436304179762204534[4] = 1; - out_1436304179762204534[5] = 0; - out_1436304179762204534[6] = 0; - out_1436304179762204534[7] = 0; - out_1436304179762204534[8] = 0; - out_1436304179762204534[9] = 0; - out_1436304179762204534[10] = 0; - out_1436304179762204534[11] = 0; - out_1436304179762204534[12] = 0; - out_1436304179762204534[13] = 0; - out_1436304179762204534[14] = 1; - out_1436304179762204534[15] = 0; - out_1436304179762204534[16] = 0; - out_1436304179762204534[17] = 0; +void H_24(double *state, double *unused, double *out_264505793760280989) { + out_264505793760280989[0] = 0; + out_264505793760280989[1] = 0; + out_264505793760280989[2] = 0; + out_264505793760280989[3] = 0; + out_264505793760280989[4] = 1; + out_264505793760280989[5] = 0; + out_264505793760280989[6] = 0; + out_264505793760280989[7] = 0; + out_264505793760280989[8] = 0; + out_264505793760280989[9] = 0; + out_264505793760280989[10] = 0; + out_264505793760280989[11] = 0; + out_264505793760280989[12] = 0; + out_264505793760280989[13] = 0; + out_264505793760280989[14] = 1; + out_264505793760280989[15] = 0; + out_264505793760280989[16] = 0; + out_264505793760280989[17] = 0; } -void h_30(double *state, double *unused, double *out_4724029839376033904) { - out_4724029839376033904[0] = state[4]; +void h_30(double *state, double *unused, double *out_1276747862501446610) { + out_1276747862501446610[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8701146465235962195) { - out_8701146465235962195[0] = 0; - out_8701146465235962195[1] = 0; - out_8701146465235962195[2] = 0; - out_8701146465235962195[3] = 0; - out_8701146465235962195[4] = 1; - out_8701146465235962195[5] = 0; - out_8701146465235962195[6] = 0; - out_8701146465235962195[7] = 0; - out_8701146465235962195[8] = 0; +void H_30(double *state, double *unused, double *out_4955488351273029182) { + out_4955488351273029182[0] = 0; + out_4955488351273029182[1] = 0; + out_4955488351273029182[2] = 0; + out_4955488351273029182[3] = 0; + out_4955488351273029182[4] = 1; + out_4955488351273029182[5] = 0; + out_4955488351273029182[6] = 0; + out_4955488351273029182[7] = 0; + out_4955488351273029182[8] = 0; } -void h_26(double *state, double *unused, double *out_3556286038299892167) { - out_3556286038299892167[0] = state[7]; +void h_26(double *state, double *unused, double *out_1327657458307251041) { + out_1327657458307251041[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8959404597220037447) { - out_8959404597220037447[0] = 0; - out_8959404597220037447[1] = 0; - out_8959404597220037447[2] = 0; - out_8959404597220037447[3] = 0; - out_8959404597220037447[4] = 0; - out_8959404597220037447[5] = 0; - out_8959404597220037447[6] = 0; - out_8959404597220037447[7] = 1; - out_8959404597220037447[8] = 0; +void H_26(double *state, double *unused, double *out_1304347926108275669) { + out_1304347926108275669[0] = 0; + out_1304347926108275669[1] = 0; + out_1304347926108275669[2] = 0; + out_1304347926108275669[3] = 0; + out_1304347926108275669[4] = 0; + out_1304347926108275669[5] = 0; + out_1304347926108275669[6] = 0; + out_1304347926108275669[7] = 1; + out_1304347926108275669[8] = 0; } -void h_27(double *state, double *unused, double *out_356357552238636072) { - out_356357552238636072[0] = state[3]; +void h_27(double *state, double *unused, double *out_7037025956126784954) { + out_7037025956126784954[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7522003537289646204) { - out_7522003537289646204[0] = 0; - out_7522003537289646204[1] = 0; - out_7522003537289646204[2] = 0; - out_7522003537289646204[3] = 1; - out_7522003537289646204[4] = 0; - out_7522003537289646204[5] = 0; - out_7522003537289646204[6] = 0; - out_7522003537289646204[7] = 0; - out_7522003537289646204[8] = 0; +void H_27(double *state, double *unused, double *out_2780725039472604271) { + out_2780725039472604271[0] = 0; + out_2780725039472604271[1] = 0; + out_2780725039472604271[2] = 0; + out_2780725039472604271[3] = 1; + out_2780725039472604271[4] = 0; + out_2780725039472604271[5] = 0; + out_2780725039472604271[6] = 0; + out_2780725039472604271[7] = 0; + out_2780725039472604271[8] = 0; } -void h_29(double *state, double *unused, double *out_277643428284811741) { - out_277643428284811741[0] = state[1]; +void h_29(double *state, double *unused, double *out_3096869935300978488) { + out_3096869935300978488[0] = state[1]; } -void H_29(double *state, double *unused, double *out_9211377809550354379) { - out_9211377809550354379[0] = 0; - out_9211377809550354379[1] = 1; - out_9211377809550354379[2] = 0; - out_9211377809550354379[3] = 0; - out_9211377809550354379[4] = 0; - out_9211377809550354379[5] = 0; - out_9211377809550354379[6] = 0; - out_9211377809550354379[7] = 0; - out_9211377809550354379[8] = 0; +void H_29(double *state, double *unused, double *out_5465719695587421366) { + out_5465719695587421366[0] = 0; + out_5465719695587421366[1] = 1; + out_5465719695587421366[2] = 0; + out_5465719695587421366[3] = 0; + out_5465719695587421366[4] = 0; + out_5465719695587421366[5] = 0; + out_5465719695587421366[6] = 0; + out_5465719695587421366[7] = 0; + out_5465719695587421366[8] = 0; } -void h_28(double *state, double *unused, double *out_5358030819899481717) { - out_5358030819899481717[0] = state[0]; +void h_28(double *state, double *unused, double *out_1892135893011137417) { + out_1892135893011137417[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4128978792480823805) { - out_4128978792480823805[0] = 1; - out_4128978792480823805[1] = 0; - out_4128978792480823805[2] = 0; - out_4128978792480823805[3] = 0; - out_4128978792480823805[4] = 0; - out_4128978792480823805[5] = 0; - out_4128978792480823805[6] = 0; - out_4128978792480823805[7] = 0; - out_4128978792480823805[8] = 0; +void H_28(double *state, double *unused, double *out_383320678517890792) { + out_383320678517890792[0] = 1; + out_383320678517890792[1] = 0; + out_383320678517890792[2] = 0; + out_383320678517890792[3] = 0; + out_383320678517890792[4] = 0; + out_383320678517890792[5] = 0; + out_383320678517890792[6] = 0; + out_383320678517890792[7] = 0; + out_383320678517890792[8] = 0; } -void h_31(double *state, double *unused, double *out_2893715593223983566) { - out_2893715593223983566[0] = state[8]; +void h_31(double *state, double *unused, double *out_4499667915141437460) { + out_4499667915141437460[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8861131374256162693) { - out_8861131374256162693[0] = 0; - out_8861131374256162693[1] = 0; - out_8861131374256162693[2] = 0; - out_8861131374256162693[3] = 0; - out_8861131374256162693[4] = 0; - out_8861131374256162693[5] = 0; - out_8861131374256162693[6] = 0; - out_8861131374256162693[7] = 0; - out_8861131374256162693[8] = 1; +void H_31(double *state, double *unused, double *out_1930556028341627145) { + out_1930556028341627145[0] = 0; + out_1930556028341627145[1] = 0; + out_1930556028341627145[2] = 0; + out_1930556028341627145[3] = 0; + out_1930556028341627145[4] = 0; + out_1930556028341627145[5] = 0; + out_1930556028341627145[6] = 0; + out_1930556028341627145[7] = 0; + out_1930556028341627145[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_5469727734415202139) { - err_fun(nom_x, delta_x, out_5469727734415202139); +void car_err_fun(double *nom_x, double *delta_x, double *out_6228234881733864934) { + err_fun(nom_x, delta_x, out_6228234881733864934); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510) { - inv_err_fun(nom_x, true_x, out_9043415007849521510); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4987639609546586613) { + inv_err_fun(nom_x, true_x, out_4987639609546586613); } -void car_H_mod_fun(double *state, double *out_3975286947566256014) { - H_mod_fun(state, out_3975286947566256014); +void car_H_mod_fun(double *state, double *out_7231986235693649664) { + H_mod_fun(state, out_7231986235693649664); } -void car_f_fun(double *state, double dt, double *out_1399233721380390552) { - f_fun(state, dt, out_1399233721380390552); +void car_f_fun(double *state, double dt, double *out_230288838788838657) { + f_fun(state, dt, out_230288838788838657); } -void car_F_fun(double *state, double dt, double *out_1547855628850571031) { - F_fun(state, dt, out_1547855628850571031); +void car_F_fun(double *state, double dt, double *out_6053955851441441421) { + F_fun(state, dt, out_6053955851441441421); } -void car_h_25(double *state, double *unused, double *out_4999223901660539793) { - h_25(state, unused, out_4999223901660539793); +void car_h_25(double *state, double *unused, double *out_6486517394319225831) { + h_25(state, unused, out_6486517394319225831); } -void car_H_25(double *state, double *unused, double *out_5217901278345981223) { - H_25(state, unused, out_5217901278345981223); +void car_H_25(double *state, double *unused, double *out_2437155392765780555) { + H_25(state, unused, out_2437155392765780555); } -void car_h_24(double *state, double *unused, double *out_6882293632162622150) { - h_24(state, unused, out_6882293632162622150); +void car_h_24(double *state, double *unused, double *out_2812983764171647921) { + h_24(state, unused, out_2812983764171647921); } -void car_H_24(double *state, double *unused, double *out_1436304179762204534) { - H_24(state, unused, out_1436304179762204534); +void car_H_24(double *state, double *unused, double *out_264505793760280989) { + H_24(state, unused, out_264505793760280989); } -void car_h_30(double *state, double *unused, double *out_4724029839376033904) { - h_30(state, unused, out_4724029839376033904); +void car_h_30(double *state, double *unused, double *out_1276747862501446610) { + h_30(state, unused, out_1276747862501446610); } -void car_H_30(double *state, double *unused, double *out_8701146465235962195) { - H_30(state, unused, out_8701146465235962195); +void car_H_30(double *state, double *unused, double *out_4955488351273029182) { + H_30(state, unused, out_4955488351273029182); } -void car_h_26(double *state, double *unused, double *out_3556286038299892167) { - h_26(state, unused, out_3556286038299892167); +void car_h_26(double *state, double *unused, double *out_1327657458307251041) { + h_26(state, unused, out_1327657458307251041); } -void car_H_26(double *state, double *unused, double *out_8959404597220037447) { - H_26(state, unused, out_8959404597220037447); +void car_H_26(double *state, double *unused, double *out_1304347926108275669) { + H_26(state, unused, out_1304347926108275669); } -void car_h_27(double *state, double *unused, double *out_356357552238636072) { - h_27(state, unused, out_356357552238636072); +void car_h_27(double *state, double *unused, double *out_7037025956126784954) { + h_27(state, unused, out_7037025956126784954); } -void car_H_27(double *state, double *unused, double *out_7522003537289646204) { - H_27(state, unused, out_7522003537289646204); +void car_H_27(double *state, double *unused, double *out_2780725039472604271) { + H_27(state, unused, out_2780725039472604271); } -void car_h_29(double *state, double *unused, double *out_277643428284811741) { - h_29(state, unused, out_277643428284811741); +void car_h_29(double *state, double *unused, double *out_3096869935300978488) { + h_29(state, unused, out_3096869935300978488); } -void car_H_29(double *state, double *unused, double *out_9211377809550354379) { - H_29(state, unused, out_9211377809550354379); +void car_H_29(double *state, double *unused, double *out_5465719695587421366) { + H_29(state, unused, out_5465719695587421366); } -void car_h_28(double *state, double *unused, double *out_5358030819899481717) { - h_28(state, unused, out_5358030819899481717); +void car_h_28(double *state, double *unused, double *out_1892135893011137417) { + h_28(state, unused, out_1892135893011137417); } -void car_H_28(double *state, double *unused, double *out_4128978792480823805) { - H_28(state, unused, out_4128978792480823805); +void car_H_28(double *state, double *unused, double *out_383320678517890792) { + H_28(state, unused, out_383320678517890792); } -void car_h_31(double *state, double *unused, double *out_2893715593223983566) { - h_31(state, unused, out_2893715593223983566); +void car_h_31(double *state, double *unused, double *out_4499667915141437460) { + h_31(state, unused, out_4499667915141437460); } -void car_H_31(double *state, double *unused, double *out_8861131374256162693) { - H_31(state, unused, out_8861131374256162693); +void car_H_31(double *state, double *unused, double *out_1930556028341627145) { + H_31(state, unused, out_1930556028341627145); } 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 2cb3eeeac..df89c2549 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_5469727734415202139); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510); -void car_H_mod_fun(double *state, double *out_3975286947566256014); -void car_f_fun(double *state, double dt, double *out_1399233721380390552); -void car_F_fun(double *state, double dt, double *out_1547855628850571031); -void car_h_25(double *state, double *unused, double *out_4999223901660539793); -void car_H_25(double *state, double *unused, double *out_5217901278345981223); -void car_h_24(double *state, double *unused, double *out_6882293632162622150); -void car_H_24(double *state, double *unused, double *out_1436304179762204534); -void car_h_30(double *state, double *unused, double *out_4724029839376033904); -void car_H_30(double *state, double *unused, double *out_8701146465235962195); -void car_h_26(double *state, double *unused, double *out_3556286038299892167); -void car_H_26(double *state, double *unused, double *out_8959404597220037447); -void car_h_27(double *state, double *unused, double *out_356357552238636072); -void car_H_27(double *state, double *unused, double *out_7522003537289646204); -void car_h_29(double *state, double *unused, double *out_277643428284811741); -void car_H_29(double *state, double *unused, double *out_9211377809550354379); -void car_h_28(double *state, double *unused, double *out_5358030819899481717); -void car_H_28(double *state, double *unused, double *out_4128978792480823805); -void car_h_31(double *state, double *unused, double *out_2893715593223983566); -void car_H_31(double *state, double *unused, double *out_8861131374256162693); +void car_err_fun(double *nom_x, double *delta_x, double *out_6228234881733864934); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4987639609546586613); +void car_H_mod_fun(double *state, double *out_7231986235693649664); +void car_f_fun(double *state, double dt, double *out_230288838788838657); +void car_F_fun(double *state, double dt, double *out_6053955851441441421); +void car_h_25(double *state, double *unused, double *out_6486517394319225831); +void car_H_25(double *state, double *unused, double *out_2437155392765780555); +void car_h_24(double *state, double *unused, double *out_2812983764171647921); +void car_H_24(double *state, double *unused, double *out_264505793760280989); +void car_h_30(double *state, double *unused, double *out_1276747862501446610); +void car_H_30(double *state, double *unused, double *out_4955488351273029182); +void car_h_26(double *state, double *unused, double *out_1327657458307251041); +void car_H_26(double *state, double *unused, double *out_1304347926108275669); +void car_h_27(double *state, double *unused, double *out_7037025956126784954); +void car_H_27(double *state, double *unused, double *out_2780725039472604271); +void car_h_29(double *state, double *unused, double *out_3096869935300978488); +void car_H_29(double *state, double *unused, double *out_5465719695587421366); +void car_h_28(double *state, double *unused, double *out_1892135893011137417); +void car_H_28(double *state, double *unused, double *out_383320678517890792); +void car_h_31(double *state, double *unused, double *out_4499667915141437460); +void car_H_31(double *state, double *unused, double *out_1930556028341627145); 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 cde019db4..8e388e5fe 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_3037457306540495367) { - out_3037457306540495367[0] = delta_x[0] + nom_x[0]; - out_3037457306540495367[1] = delta_x[1] + nom_x[1]; - out_3037457306540495367[2] = delta_x[2] + nom_x[2]; - out_3037457306540495367[3] = delta_x[3] + nom_x[3]; - out_3037457306540495367[4] = delta_x[4] + nom_x[4]; - out_3037457306540495367[5] = delta_x[5] + nom_x[5]; - out_3037457306540495367[6] = delta_x[6] + nom_x[6]; - out_3037457306540495367[7] = delta_x[7] + nom_x[7]; - out_3037457306540495367[8] = delta_x[8] + nom_x[8]; - out_3037457306540495367[9] = delta_x[9] + nom_x[9]; - out_3037457306540495367[10] = delta_x[10] + nom_x[10]; - out_3037457306540495367[11] = delta_x[11] + nom_x[11]; - out_3037457306540495367[12] = delta_x[12] + nom_x[12]; - out_3037457306540495367[13] = delta_x[13] + nom_x[13]; - out_3037457306540495367[14] = delta_x[14] + nom_x[14]; - out_3037457306540495367[15] = delta_x[15] + nom_x[15]; - out_3037457306540495367[16] = delta_x[16] + nom_x[16]; - out_3037457306540495367[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5195610458540139902) { + out_5195610458540139902[0] = delta_x[0] + nom_x[0]; + out_5195610458540139902[1] = delta_x[1] + nom_x[1]; + out_5195610458540139902[2] = delta_x[2] + nom_x[2]; + out_5195610458540139902[3] = delta_x[3] + nom_x[3]; + out_5195610458540139902[4] = delta_x[4] + nom_x[4]; + out_5195610458540139902[5] = delta_x[5] + nom_x[5]; + out_5195610458540139902[6] = delta_x[6] + nom_x[6]; + out_5195610458540139902[7] = delta_x[7] + nom_x[7]; + out_5195610458540139902[8] = delta_x[8] + nom_x[8]; + out_5195610458540139902[9] = delta_x[9] + nom_x[9]; + out_5195610458540139902[10] = delta_x[10] + nom_x[10]; + out_5195610458540139902[11] = delta_x[11] + nom_x[11]; + out_5195610458540139902[12] = delta_x[12] + nom_x[12]; + out_5195610458540139902[13] = delta_x[13] + nom_x[13]; + out_5195610458540139902[14] = delta_x[14] + nom_x[14]; + out_5195610458540139902[15] = delta_x[15] + nom_x[15]; + out_5195610458540139902[16] = delta_x[16] + nom_x[16]; + out_5195610458540139902[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146) { - out_5504742843249496146[0] = -nom_x[0] + true_x[0]; - out_5504742843249496146[1] = -nom_x[1] + true_x[1]; - out_5504742843249496146[2] = -nom_x[2] + true_x[2]; - out_5504742843249496146[3] = -nom_x[3] + true_x[3]; - out_5504742843249496146[4] = -nom_x[4] + true_x[4]; - out_5504742843249496146[5] = -nom_x[5] + true_x[5]; - out_5504742843249496146[6] = -nom_x[6] + true_x[6]; - out_5504742843249496146[7] = -nom_x[7] + true_x[7]; - out_5504742843249496146[8] = -nom_x[8] + true_x[8]; - out_5504742843249496146[9] = -nom_x[9] + true_x[9]; - out_5504742843249496146[10] = -nom_x[10] + true_x[10]; - out_5504742843249496146[11] = -nom_x[11] + true_x[11]; - out_5504742843249496146[12] = -nom_x[12] + true_x[12]; - out_5504742843249496146[13] = -nom_x[13] + true_x[13]; - out_5504742843249496146[14] = -nom_x[14] + true_x[14]; - out_5504742843249496146[15] = -nom_x[15] + true_x[15]; - out_5504742843249496146[16] = -nom_x[16] + true_x[16]; - out_5504742843249496146[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7314439786479166241) { + out_7314439786479166241[0] = -nom_x[0] + true_x[0]; + out_7314439786479166241[1] = -nom_x[1] + true_x[1]; + out_7314439786479166241[2] = -nom_x[2] + true_x[2]; + out_7314439786479166241[3] = -nom_x[3] + true_x[3]; + out_7314439786479166241[4] = -nom_x[4] + true_x[4]; + out_7314439786479166241[5] = -nom_x[5] + true_x[5]; + out_7314439786479166241[6] = -nom_x[6] + true_x[6]; + out_7314439786479166241[7] = -nom_x[7] + true_x[7]; + out_7314439786479166241[8] = -nom_x[8] + true_x[8]; + out_7314439786479166241[9] = -nom_x[9] + true_x[9]; + out_7314439786479166241[10] = -nom_x[10] + true_x[10]; + out_7314439786479166241[11] = -nom_x[11] + true_x[11]; + out_7314439786479166241[12] = -nom_x[12] + true_x[12]; + out_7314439786479166241[13] = -nom_x[13] + true_x[13]; + out_7314439786479166241[14] = -nom_x[14] + true_x[14]; + out_7314439786479166241[15] = -nom_x[15] + true_x[15]; + out_7314439786479166241[16] = -nom_x[16] + true_x[16]; + out_7314439786479166241[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4825348341631687231) { - out_4825348341631687231[0] = 1.0; - out_4825348341631687231[1] = 0.0; - out_4825348341631687231[2] = 0.0; - out_4825348341631687231[3] = 0.0; - out_4825348341631687231[4] = 0.0; - out_4825348341631687231[5] = 0.0; - out_4825348341631687231[6] = 0.0; - out_4825348341631687231[7] = 0.0; - out_4825348341631687231[8] = 0.0; - out_4825348341631687231[9] = 0.0; - out_4825348341631687231[10] = 0.0; - out_4825348341631687231[11] = 0.0; - out_4825348341631687231[12] = 0.0; - out_4825348341631687231[13] = 0.0; - out_4825348341631687231[14] = 0.0; - out_4825348341631687231[15] = 0.0; - out_4825348341631687231[16] = 0.0; - out_4825348341631687231[17] = 0.0; - out_4825348341631687231[18] = 0.0; - out_4825348341631687231[19] = 1.0; - out_4825348341631687231[20] = 0.0; - out_4825348341631687231[21] = 0.0; - out_4825348341631687231[22] = 0.0; - out_4825348341631687231[23] = 0.0; - out_4825348341631687231[24] = 0.0; - out_4825348341631687231[25] = 0.0; - out_4825348341631687231[26] = 0.0; - out_4825348341631687231[27] = 0.0; - out_4825348341631687231[28] = 0.0; - out_4825348341631687231[29] = 0.0; - out_4825348341631687231[30] = 0.0; - out_4825348341631687231[31] = 0.0; - out_4825348341631687231[32] = 0.0; - out_4825348341631687231[33] = 0.0; - out_4825348341631687231[34] = 0.0; - out_4825348341631687231[35] = 0.0; - out_4825348341631687231[36] = 0.0; - out_4825348341631687231[37] = 0.0; - out_4825348341631687231[38] = 1.0; - out_4825348341631687231[39] = 0.0; - out_4825348341631687231[40] = 0.0; - out_4825348341631687231[41] = 0.0; - out_4825348341631687231[42] = 0.0; - out_4825348341631687231[43] = 0.0; - out_4825348341631687231[44] = 0.0; - out_4825348341631687231[45] = 0.0; - out_4825348341631687231[46] = 0.0; - out_4825348341631687231[47] = 0.0; - out_4825348341631687231[48] = 0.0; - out_4825348341631687231[49] = 0.0; - out_4825348341631687231[50] = 0.0; - out_4825348341631687231[51] = 0.0; - out_4825348341631687231[52] = 0.0; - out_4825348341631687231[53] = 0.0; - out_4825348341631687231[54] = 0.0; - out_4825348341631687231[55] = 0.0; - out_4825348341631687231[56] = 0.0; - out_4825348341631687231[57] = 1.0; - out_4825348341631687231[58] = 0.0; - out_4825348341631687231[59] = 0.0; - out_4825348341631687231[60] = 0.0; - out_4825348341631687231[61] = 0.0; - out_4825348341631687231[62] = 0.0; - out_4825348341631687231[63] = 0.0; - out_4825348341631687231[64] = 0.0; - out_4825348341631687231[65] = 0.0; - out_4825348341631687231[66] = 0.0; - out_4825348341631687231[67] = 0.0; - out_4825348341631687231[68] = 0.0; - out_4825348341631687231[69] = 0.0; - out_4825348341631687231[70] = 0.0; - out_4825348341631687231[71] = 0.0; - out_4825348341631687231[72] = 0.0; - out_4825348341631687231[73] = 0.0; - out_4825348341631687231[74] = 0.0; - out_4825348341631687231[75] = 0.0; - out_4825348341631687231[76] = 1.0; - out_4825348341631687231[77] = 0.0; - out_4825348341631687231[78] = 0.0; - out_4825348341631687231[79] = 0.0; - out_4825348341631687231[80] = 0.0; - out_4825348341631687231[81] = 0.0; - out_4825348341631687231[82] = 0.0; - out_4825348341631687231[83] = 0.0; - out_4825348341631687231[84] = 0.0; - out_4825348341631687231[85] = 0.0; - out_4825348341631687231[86] = 0.0; - out_4825348341631687231[87] = 0.0; - out_4825348341631687231[88] = 0.0; - out_4825348341631687231[89] = 0.0; - out_4825348341631687231[90] = 0.0; - out_4825348341631687231[91] = 0.0; - out_4825348341631687231[92] = 0.0; - out_4825348341631687231[93] = 0.0; - out_4825348341631687231[94] = 0.0; - out_4825348341631687231[95] = 1.0; - out_4825348341631687231[96] = 0.0; - out_4825348341631687231[97] = 0.0; - out_4825348341631687231[98] = 0.0; - out_4825348341631687231[99] = 0.0; - out_4825348341631687231[100] = 0.0; - out_4825348341631687231[101] = 0.0; - out_4825348341631687231[102] = 0.0; - out_4825348341631687231[103] = 0.0; - out_4825348341631687231[104] = 0.0; - out_4825348341631687231[105] = 0.0; - out_4825348341631687231[106] = 0.0; - out_4825348341631687231[107] = 0.0; - out_4825348341631687231[108] = 0.0; - out_4825348341631687231[109] = 0.0; - out_4825348341631687231[110] = 0.0; - out_4825348341631687231[111] = 0.0; - out_4825348341631687231[112] = 0.0; - out_4825348341631687231[113] = 0.0; - out_4825348341631687231[114] = 1.0; - out_4825348341631687231[115] = 0.0; - out_4825348341631687231[116] = 0.0; - out_4825348341631687231[117] = 0.0; - out_4825348341631687231[118] = 0.0; - out_4825348341631687231[119] = 0.0; - out_4825348341631687231[120] = 0.0; - out_4825348341631687231[121] = 0.0; - out_4825348341631687231[122] = 0.0; - out_4825348341631687231[123] = 0.0; - out_4825348341631687231[124] = 0.0; - out_4825348341631687231[125] = 0.0; - out_4825348341631687231[126] = 0.0; - out_4825348341631687231[127] = 0.0; - out_4825348341631687231[128] = 0.0; - out_4825348341631687231[129] = 0.0; - out_4825348341631687231[130] = 0.0; - out_4825348341631687231[131] = 0.0; - out_4825348341631687231[132] = 0.0; - out_4825348341631687231[133] = 1.0; - out_4825348341631687231[134] = 0.0; - out_4825348341631687231[135] = 0.0; - out_4825348341631687231[136] = 0.0; - out_4825348341631687231[137] = 0.0; - out_4825348341631687231[138] = 0.0; - out_4825348341631687231[139] = 0.0; - out_4825348341631687231[140] = 0.0; - out_4825348341631687231[141] = 0.0; - out_4825348341631687231[142] = 0.0; - out_4825348341631687231[143] = 0.0; - out_4825348341631687231[144] = 0.0; - out_4825348341631687231[145] = 0.0; - out_4825348341631687231[146] = 0.0; - out_4825348341631687231[147] = 0.0; - out_4825348341631687231[148] = 0.0; - out_4825348341631687231[149] = 0.0; - out_4825348341631687231[150] = 0.0; - out_4825348341631687231[151] = 0.0; - out_4825348341631687231[152] = 1.0; - out_4825348341631687231[153] = 0.0; - out_4825348341631687231[154] = 0.0; - out_4825348341631687231[155] = 0.0; - out_4825348341631687231[156] = 0.0; - out_4825348341631687231[157] = 0.0; - out_4825348341631687231[158] = 0.0; - out_4825348341631687231[159] = 0.0; - out_4825348341631687231[160] = 0.0; - out_4825348341631687231[161] = 0.0; - out_4825348341631687231[162] = 0.0; - out_4825348341631687231[163] = 0.0; - out_4825348341631687231[164] = 0.0; - out_4825348341631687231[165] = 0.0; - out_4825348341631687231[166] = 0.0; - out_4825348341631687231[167] = 0.0; - out_4825348341631687231[168] = 0.0; - out_4825348341631687231[169] = 0.0; - out_4825348341631687231[170] = 0.0; - out_4825348341631687231[171] = 1.0; - out_4825348341631687231[172] = 0.0; - out_4825348341631687231[173] = 0.0; - out_4825348341631687231[174] = 0.0; - out_4825348341631687231[175] = 0.0; - out_4825348341631687231[176] = 0.0; - out_4825348341631687231[177] = 0.0; - out_4825348341631687231[178] = 0.0; - out_4825348341631687231[179] = 0.0; - out_4825348341631687231[180] = 0.0; - out_4825348341631687231[181] = 0.0; - out_4825348341631687231[182] = 0.0; - out_4825348341631687231[183] = 0.0; - out_4825348341631687231[184] = 0.0; - out_4825348341631687231[185] = 0.0; - out_4825348341631687231[186] = 0.0; - out_4825348341631687231[187] = 0.0; - out_4825348341631687231[188] = 0.0; - out_4825348341631687231[189] = 0.0; - out_4825348341631687231[190] = 1.0; - out_4825348341631687231[191] = 0.0; - out_4825348341631687231[192] = 0.0; - out_4825348341631687231[193] = 0.0; - out_4825348341631687231[194] = 0.0; - out_4825348341631687231[195] = 0.0; - out_4825348341631687231[196] = 0.0; - out_4825348341631687231[197] = 0.0; - out_4825348341631687231[198] = 0.0; - out_4825348341631687231[199] = 0.0; - out_4825348341631687231[200] = 0.0; - out_4825348341631687231[201] = 0.0; - out_4825348341631687231[202] = 0.0; - out_4825348341631687231[203] = 0.0; - out_4825348341631687231[204] = 0.0; - out_4825348341631687231[205] = 0.0; - out_4825348341631687231[206] = 0.0; - out_4825348341631687231[207] = 0.0; - out_4825348341631687231[208] = 0.0; - out_4825348341631687231[209] = 1.0; - out_4825348341631687231[210] = 0.0; - out_4825348341631687231[211] = 0.0; - out_4825348341631687231[212] = 0.0; - out_4825348341631687231[213] = 0.0; - out_4825348341631687231[214] = 0.0; - out_4825348341631687231[215] = 0.0; - out_4825348341631687231[216] = 0.0; - out_4825348341631687231[217] = 0.0; - out_4825348341631687231[218] = 0.0; - out_4825348341631687231[219] = 0.0; - out_4825348341631687231[220] = 0.0; - out_4825348341631687231[221] = 0.0; - out_4825348341631687231[222] = 0.0; - out_4825348341631687231[223] = 0.0; - out_4825348341631687231[224] = 0.0; - out_4825348341631687231[225] = 0.0; - out_4825348341631687231[226] = 0.0; - out_4825348341631687231[227] = 0.0; - out_4825348341631687231[228] = 1.0; - out_4825348341631687231[229] = 0.0; - out_4825348341631687231[230] = 0.0; - out_4825348341631687231[231] = 0.0; - out_4825348341631687231[232] = 0.0; - out_4825348341631687231[233] = 0.0; - out_4825348341631687231[234] = 0.0; - out_4825348341631687231[235] = 0.0; - out_4825348341631687231[236] = 0.0; - out_4825348341631687231[237] = 0.0; - out_4825348341631687231[238] = 0.0; - out_4825348341631687231[239] = 0.0; - out_4825348341631687231[240] = 0.0; - out_4825348341631687231[241] = 0.0; - out_4825348341631687231[242] = 0.0; - out_4825348341631687231[243] = 0.0; - out_4825348341631687231[244] = 0.0; - out_4825348341631687231[245] = 0.0; - out_4825348341631687231[246] = 0.0; - out_4825348341631687231[247] = 1.0; - out_4825348341631687231[248] = 0.0; - out_4825348341631687231[249] = 0.0; - out_4825348341631687231[250] = 0.0; - out_4825348341631687231[251] = 0.0; - out_4825348341631687231[252] = 0.0; - out_4825348341631687231[253] = 0.0; - out_4825348341631687231[254] = 0.0; - out_4825348341631687231[255] = 0.0; - out_4825348341631687231[256] = 0.0; - out_4825348341631687231[257] = 0.0; - out_4825348341631687231[258] = 0.0; - out_4825348341631687231[259] = 0.0; - out_4825348341631687231[260] = 0.0; - out_4825348341631687231[261] = 0.0; - out_4825348341631687231[262] = 0.0; - out_4825348341631687231[263] = 0.0; - out_4825348341631687231[264] = 0.0; - out_4825348341631687231[265] = 0.0; - out_4825348341631687231[266] = 1.0; - out_4825348341631687231[267] = 0.0; - out_4825348341631687231[268] = 0.0; - out_4825348341631687231[269] = 0.0; - out_4825348341631687231[270] = 0.0; - out_4825348341631687231[271] = 0.0; - out_4825348341631687231[272] = 0.0; - out_4825348341631687231[273] = 0.0; - out_4825348341631687231[274] = 0.0; - out_4825348341631687231[275] = 0.0; - out_4825348341631687231[276] = 0.0; - out_4825348341631687231[277] = 0.0; - out_4825348341631687231[278] = 0.0; - out_4825348341631687231[279] = 0.0; - out_4825348341631687231[280] = 0.0; - out_4825348341631687231[281] = 0.0; - out_4825348341631687231[282] = 0.0; - out_4825348341631687231[283] = 0.0; - out_4825348341631687231[284] = 0.0; - out_4825348341631687231[285] = 1.0; - out_4825348341631687231[286] = 0.0; - out_4825348341631687231[287] = 0.0; - out_4825348341631687231[288] = 0.0; - out_4825348341631687231[289] = 0.0; - out_4825348341631687231[290] = 0.0; - out_4825348341631687231[291] = 0.0; - out_4825348341631687231[292] = 0.0; - out_4825348341631687231[293] = 0.0; - out_4825348341631687231[294] = 0.0; - out_4825348341631687231[295] = 0.0; - out_4825348341631687231[296] = 0.0; - out_4825348341631687231[297] = 0.0; - out_4825348341631687231[298] = 0.0; - out_4825348341631687231[299] = 0.0; - out_4825348341631687231[300] = 0.0; - out_4825348341631687231[301] = 0.0; - out_4825348341631687231[302] = 0.0; - out_4825348341631687231[303] = 0.0; - out_4825348341631687231[304] = 1.0; - out_4825348341631687231[305] = 0.0; - out_4825348341631687231[306] = 0.0; - out_4825348341631687231[307] = 0.0; - out_4825348341631687231[308] = 0.0; - out_4825348341631687231[309] = 0.0; - out_4825348341631687231[310] = 0.0; - out_4825348341631687231[311] = 0.0; - out_4825348341631687231[312] = 0.0; - out_4825348341631687231[313] = 0.0; - out_4825348341631687231[314] = 0.0; - out_4825348341631687231[315] = 0.0; - out_4825348341631687231[316] = 0.0; - out_4825348341631687231[317] = 0.0; - out_4825348341631687231[318] = 0.0; - out_4825348341631687231[319] = 0.0; - out_4825348341631687231[320] = 0.0; - out_4825348341631687231[321] = 0.0; - out_4825348341631687231[322] = 0.0; - out_4825348341631687231[323] = 1.0; +void H_mod_fun(double *state, double *out_8818080346799948532) { + out_8818080346799948532[0] = 1.0; + out_8818080346799948532[1] = 0.0; + out_8818080346799948532[2] = 0.0; + out_8818080346799948532[3] = 0.0; + out_8818080346799948532[4] = 0.0; + out_8818080346799948532[5] = 0.0; + out_8818080346799948532[6] = 0.0; + out_8818080346799948532[7] = 0.0; + out_8818080346799948532[8] = 0.0; + out_8818080346799948532[9] = 0.0; + out_8818080346799948532[10] = 0.0; + out_8818080346799948532[11] = 0.0; + out_8818080346799948532[12] = 0.0; + out_8818080346799948532[13] = 0.0; + out_8818080346799948532[14] = 0.0; + out_8818080346799948532[15] = 0.0; + out_8818080346799948532[16] = 0.0; + out_8818080346799948532[17] = 0.0; + out_8818080346799948532[18] = 0.0; + out_8818080346799948532[19] = 1.0; + out_8818080346799948532[20] = 0.0; + out_8818080346799948532[21] = 0.0; + out_8818080346799948532[22] = 0.0; + out_8818080346799948532[23] = 0.0; + out_8818080346799948532[24] = 0.0; + out_8818080346799948532[25] = 0.0; + out_8818080346799948532[26] = 0.0; + out_8818080346799948532[27] = 0.0; + out_8818080346799948532[28] = 0.0; + out_8818080346799948532[29] = 0.0; + out_8818080346799948532[30] = 0.0; + out_8818080346799948532[31] = 0.0; + out_8818080346799948532[32] = 0.0; + out_8818080346799948532[33] = 0.0; + out_8818080346799948532[34] = 0.0; + out_8818080346799948532[35] = 0.0; + out_8818080346799948532[36] = 0.0; + out_8818080346799948532[37] = 0.0; + out_8818080346799948532[38] = 1.0; + out_8818080346799948532[39] = 0.0; + out_8818080346799948532[40] = 0.0; + out_8818080346799948532[41] = 0.0; + out_8818080346799948532[42] = 0.0; + out_8818080346799948532[43] = 0.0; + out_8818080346799948532[44] = 0.0; + out_8818080346799948532[45] = 0.0; + out_8818080346799948532[46] = 0.0; + out_8818080346799948532[47] = 0.0; + out_8818080346799948532[48] = 0.0; + out_8818080346799948532[49] = 0.0; + out_8818080346799948532[50] = 0.0; + out_8818080346799948532[51] = 0.0; + out_8818080346799948532[52] = 0.0; + out_8818080346799948532[53] = 0.0; + out_8818080346799948532[54] = 0.0; + out_8818080346799948532[55] = 0.0; + out_8818080346799948532[56] = 0.0; + out_8818080346799948532[57] = 1.0; + out_8818080346799948532[58] = 0.0; + out_8818080346799948532[59] = 0.0; + out_8818080346799948532[60] = 0.0; + out_8818080346799948532[61] = 0.0; + out_8818080346799948532[62] = 0.0; + out_8818080346799948532[63] = 0.0; + out_8818080346799948532[64] = 0.0; + out_8818080346799948532[65] = 0.0; + out_8818080346799948532[66] = 0.0; + out_8818080346799948532[67] = 0.0; + out_8818080346799948532[68] = 0.0; + out_8818080346799948532[69] = 0.0; + out_8818080346799948532[70] = 0.0; + out_8818080346799948532[71] = 0.0; + out_8818080346799948532[72] = 0.0; + out_8818080346799948532[73] = 0.0; + out_8818080346799948532[74] = 0.0; + out_8818080346799948532[75] = 0.0; + out_8818080346799948532[76] = 1.0; + out_8818080346799948532[77] = 0.0; + out_8818080346799948532[78] = 0.0; + out_8818080346799948532[79] = 0.0; + out_8818080346799948532[80] = 0.0; + out_8818080346799948532[81] = 0.0; + out_8818080346799948532[82] = 0.0; + out_8818080346799948532[83] = 0.0; + out_8818080346799948532[84] = 0.0; + out_8818080346799948532[85] = 0.0; + out_8818080346799948532[86] = 0.0; + out_8818080346799948532[87] = 0.0; + out_8818080346799948532[88] = 0.0; + out_8818080346799948532[89] = 0.0; + out_8818080346799948532[90] = 0.0; + out_8818080346799948532[91] = 0.0; + out_8818080346799948532[92] = 0.0; + out_8818080346799948532[93] = 0.0; + out_8818080346799948532[94] = 0.0; + out_8818080346799948532[95] = 1.0; + out_8818080346799948532[96] = 0.0; + out_8818080346799948532[97] = 0.0; + out_8818080346799948532[98] = 0.0; + out_8818080346799948532[99] = 0.0; + out_8818080346799948532[100] = 0.0; + out_8818080346799948532[101] = 0.0; + out_8818080346799948532[102] = 0.0; + out_8818080346799948532[103] = 0.0; + out_8818080346799948532[104] = 0.0; + out_8818080346799948532[105] = 0.0; + out_8818080346799948532[106] = 0.0; + out_8818080346799948532[107] = 0.0; + out_8818080346799948532[108] = 0.0; + out_8818080346799948532[109] = 0.0; + out_8818080346799948532[110] = 0.0; + out_8818080346799948532[111] = 0.0; + out_8818080346799948532[112] = 0.0; + out_8818080346799948532[113] = 0.0; + out_8818080346799948532[114] = 1.0; + out_8818080346799948532[115] = 0.0; + out_8818080346799948532[116] = 0.0; + out_8818080346799948532[117] = 0.0; + out_8818080346799948532[118] = 0.0; + out_8818080346799948532[119] = 0.0; + out_8818080346799948532[120] = 0.0; + out_8818080346799948532[121] = 0.0; + out_8818080346799948532[122] = 0.0; + out_8818080346799948532[123] = 0.0; + out_8818080346799948532[124] = 0.0; + out_8818080346799948532[125] = 0.0; + out_8818080346799948532[126] = 0.0; + out_8818080346799948532[127] = 0.0; + out_8818080346799948532[128] = 0.0; + out_8818080346799948532[129] = 0.0; + out_8818080346799948532[130] = 0.0; + out_8818080346799948532[131] = 0.0; + out_8818080346799948532[132] = 0.0; + out_8818080346799948532[133] = 1.0; + out_8818080346799948532[134] = 0.0; + out_8818080346799948532[135] = 0.0; + out_8818080346799948532[136] = 0.0; + out_8818080346799948532[137] = 0.0; + out_8818080346799948532[138] = 0.0; + out_8818080346799948532[139] = 0.0; + out_8818080346799948532[140] = 0.0; + out_8818080346799948532[141] = 0.0; + out_8818080346799948532[142] = 0.0; + out_8818080346799948532[143] = 0.0; + out_8818080346799948532[144] = 0.0; + out_8818080346799948532[145] = 0.0; + out_8818080346799948532[146] = 0.0; + out_8818080346799948532[147] = 0.0; + out_8818080346799948532[148] = 0.0; + out_8818080346799948532[149] = 0.0; + out_8818080346799948532[150] = 0.0; + out_8818080346799948532[151] = 0.0; + out_8818080346799948532[152] = 1.0; + out_8818080346799948532[153] = 0.0; + out_8818080346799948532[154] = 0.0; + out_8818080346799948532[155] = 0.0; + out_8818080346799948532[156] = 0.0; + out_8818080346799948532[157] = 0.0; + out_8818080346799948532[158] = 0.0; + out_8818080346799948532[159] = 0.0; + out_8818080346799948532[160] = 0.0; + out_8818080346799948532[161] = 0.0; + out_8818080346799948532[162] = 0.0; + out_8818080346799948532[163] = 0.0; + out_8818080346799948532[164] = 0.0; + out_8818080346799948532[165] = 0.0; + out_8818080346799948532[166] = 0.0; + out_8818080346799948532[167] = 0.0; + out_8818080346799948532[168] = 0.0; + out_8818080346799948532[169] = 0.0; + out_8818080346799948532[170] = 0.0; + out_8818080346799948532[171] = 1.0; + out_8818080346799948532[172] = 0.0; + out_8818080346799948532[173] = 0.0; + out_8818080346799948532[174] = 0.0; + out_8818080346799948532[175] = 0.0; + out_8818080346799948532[176] = 0.0; + out_8818080346799948532[177] = 0.0; + out_8818080346799948532[178] = 0.0; + out_8818080346799948532[179] = 0.0; + out_8818080346799948532[180] = 0.0; + out_8818080346799948532[181] = 0.0; + out_8818080346799948532[182] = 0.0; + out_8818080346799948532[183] = 0.0; + out_8818080346799948532[184] = 0.0; + out_8818080346799948532[185] = 0.0; + out_8818080346799948532[186] = 0.0; + out_8818080346799948532[187] = 0.0; + out_8818080346799948532[188] = 0.0; + out_8818080346799948532[189] = 0.0; + out_8818080346799948532[190] = 1.0; + out_8818080346799948532[191] = 0.0; + out_8818080346799948532[192] = 0.0; + out_8818080346799948532[193] = 0.0; + out_8818080346799948532[194] = 0.0; + out_8818080346799948532[195] = 0.0; + out_8818080346799948532[196] = 0.0; + out_8818080346799948532[197] = 0.0; + out_8818080346799948532[198] = 0.0; + out_8818080346799948532[199] = 0.0; + out_8818080346799948532[200] = 0.0; + out_8818080346799948532[201] = 0.0; + out_8818080346799948532[202] = 0.0; + out_8818080346799948532[203] = 0.0; + out_8818080346799948532[204] = 0.0; + out_8818080346799948532[205] = 0.0; + out_8818080346799948532[206] = 0.0; + out_8818080346799948532[207] = 0.0; + out_8818080346799948532[208] = 0.0; + out_8818080346799948532[209] = 1.0; + out_8818080346799948532[210] = 0.0; + out_8818080346799948532[211] = 0.0; + out_8818080346799948532[212] = 0.0; + out_8818080346799948532[213] = 0.0; + out_8818080346799948532[214] = 0.0; + out_8818080346799948532[215] = 0.0; + out_8818080346799948532[216] = 0.0; + out_8818080346799948532[217] = 0.0; + out_8818080346799948532[218] = 0.0; + out_8818080346799948532[219] = 0.0; + out_8818080346799948532[220] = 0.0; + out_8818080346799948532[221] = 0.0; + out_8818080346799948532[222] = 0.0; + out_8818080346799948532[223] = 0.0; + out_8818080346799948532[224] = 0.0; + out_8818080346799948532[225] = 0.0; + out_8818080346799948532[226] = 0.0; + out_8818080346799948532[227] = 0.0; + out_8818080346799948532[228] = 1.0; + out_8818080346799948532[229] = 0.0; + out_8818080346799948532[230] = 0.0; + out_8818080346799948532[231] = 0.0; + out_8818080346799948532[232] = 0.0; + out_8818080346799948532[233] = 0.0; + out_8818080346799948532[234] = 0.0; + out_8818080346799948532[235] = 0.0; + out_8818080346799948532[236] = 0.0; + out_8818080346799948532[237] = 0.0; + out_8818080346799948532[238] = 0.0; + out_8818080346799948532[239] = 0.0; + out_8818080346799948532[240] = 0.0; + out_8818080346799948532[241] = 0.0; + out_8818080346799948532[242] = 0.0; + out_8818080346799948532[243] = 0.0; + out_8818080346799948532[244] = 0.0; + out_8818080346799948532[245] = 0.0; + out_8818080346799948532[246] = 0.0; + out_8818080346799948532[247] = 1.0; + out_8818080346799948532[248] = 0.0; + out_8818080346799948532[249] = 0.0; + out_8818080346799948532[250] = 0.0; + out_8818080346799948532[251] = 0.0; + out_8818080346799948532[252] = 0.0; + out_8818080346799948532[253] = 0.0; + out_8818080346799948532[254] = 0.0; + out_8818080346799948532[255] = 0.0; + out_8818080346799948532[256] = 0.0; + out_8818080346799948532[257] = 0.0; + out_8818080346799948532[258] = 0.0; + out_8818080346799948532[259] = 0.0; + out_8818080346799948532[260] = 0.0; + out_8818080346799948532[261] = 0.0; + out_8818080346799948532[262] = 0.0; + out_8818080346799948532[263] = 0.0; + out_8818080346799948532[264] = 0.0; + out_8818080346799948532[265] = 0.0; + out_8818080346799948532[266] = 1.0; + out_8818080346799948532[267] = 0.0; + out_8818080346799948532[268] = 0.0; + out_8818080346799948532[269] = 0.0; + out_8818080346799948532[270] = 0.0; + out_8818080346799948532[271] = 0.0; + out_8818080346799948532[272] = 0.0; + out_8818080346799948532[273] = 0.0; + out_8818080346799948532[274] = 0.0; + out_8818080346799948532[275] = 0.0; + out_8818080346799948532[276] = 0.0; + out_8818080346799948532[277] = 0.0; + out_8818080346799948532[278] = 0.0; + out_8818080346799948532[279] = 0.0; + out_8818080346799948532[280] = 0.0; + out_8818080346799948532[281] = 0.0; + out_8818080346799948532[282] = 0.0; + out_8818080346799948532[283] = 0.0; + out_8818080346799948532[284] = 0.0; + out_8818080346799948532[285] = 1.0; + out_8818080346799948532[286] = 0.0; + out_8818080346799948532[287] = 0.0; + out_8818080346799948532[288] = 0.0; + out_8818080346799948532[289] = 0.0; + out_8818080346799948532[290] = 0.0; + out_8818080346799948532[291] = 0.0; + out_8818080346799948532[292] = 0.0; + out_8818080346799948532[293] = 0.0; + out_8818080346799948532[294] = 0.0; + out_8818080346799948532[295] = 0.0; + out_8818080346799948532[296] = 0.0; + out_8818080346799948532[297] = 0.0; + out_8818080346799948532[298] = 0.0; + out_8818080346799948532[299] = 0.0; + out_8818080346799948532[300] = 0.0; + out_8818080346799948532[301] = 0.0; + out_8818080346799948532[302] = 0.0; + out_8818080346799948532[303] = 0.0; + out_8818080346799948532[304] = 1.0; + out_8818080346799948532[305] = 0.0; + out_8818080346799948532[306] = 0.0; + out_8818080346799948532[307] = 0.0; + out_8818080346799948532[308] = 0.0; + out_8818080346799948532[309] = 0.0; + out_8818080346799948532[310] = 0.0; + out_8818080346799948532[311] = 0.0; + out_8818080346799948532[312] = 0.0; + out_8818080346799948532[313] = 0.0; + out_8818080346799948532[314] = 0.0; + out_8818080346799948532[315] = 0.0; + out_8818080346799948532[316] = 0.0; + out_8818080346799948532[317] = 0.0; + out_8818080346799948532[318] = 0.0; + out_8818080346799948532[319] = 0.0; + out_8818080346799948532[320] = 0.0; + out_8818080346799948532[321] = 0.0; + out_8818080346799948532[322] = 0.0; + out_8818080346799948532[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6515554172087681296) { - out_6515554172087681296[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_6515554172087681296[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_6515554172087681296[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_6515554172087681296[3] = dt*state[12] + state[3]; - out_6515554172087681296[4] = dt*state[13] + state[4]; - out_6515554172087681296[5] = dt*state[14] + state[5]; - out_6515554172087681296[6] = state[6]; - out_6515554172087681296[7] = state[7]; - out_6515554172087681296[8] = state[8]; - out_6515554172087681296[9] = state[9]; - out_6515554172087681296[10] = state[10]; - out_6515554172087681296[11] = state[11]; - out_6515554172087681296[12] = state[12]; - out_6515554172087681296[13] = state[13]; - out_6515554172087681296[14] = state[14]; - out_6515554172087681296[15] = state[15]; - out_6515554172087681296[16] = state[16]; - out_6515554172087681296[17] = state[17]; +void f_fun(double *state, double dt, double *out_4287776289429729412) { + out_4287776289429729412[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_4287776289429729412[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_4287776289429729412[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_4287776289429729412[3] = dt*state[12] + state[3]; + out_4287776289429729412[4] = dt*state[13] + state[4]; + out_4287776289429729412[5] = dt*state[14] + state[5]; + out_4287776289429729412[6] = state[6]; + out_4287776289429729412[7] = state[7]; + out_4287776289429729412[8] = state[8]; + out_4287776289429729412[9] = state[9]; + out_4287776289429729412[10] = state[10]; + out_4287776289429729412[11] = state[11]; + out_4287776289429729412[12] = state[12]; + out_4287776289429729412[13] = state[13]; + out_4287776289429729412[14] = state[14]; + out_4287776289429729412[15] = state[15]; + out_4287776289429729412[16] = state[16]; + out_4287776289429729412[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6200830679267345445) { - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[2] = 0; - out_6200830679267345445[3] = 0; - out_6200830679267345445[4] = 0; - out_6200830679267345445[5] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[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_6200830679267345445[9] = 0; - out_6200830679267345445[10] = 0; - out_6200830679267345445[11] = 0; - out_6200830679267345445[12] = 0; - out_6200830679267345445[13] = 0; - out_6200830679267345445[14] = 0; - out_6200830679267345445[15] = 0; - out_6200830679267345445[16] = 0; - out_6200830679267345445[17] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[20] = 0; - out_6200830679267345445[21] = 0; - out_6200830679267345445[22] = 0; - out_6200830679267345445[23] = 0; - out_6200830679267345445[24] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[27] = 0; - out_6200830679267345445[28] = 0; - out_6200830679267345445[29] = 0; - out_6200830679267345445[30] = 0; - out_6200830679267345445[31] = 0; - out_6200830679267345445[32] = 0; - out_6200830679267345445[33] = 0; - out_6200830679267345445[34] = 0; - out_6200830679267345445[35] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[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_6200830679267345445[39] = 0; - out_6200830679267345445[40] = 0; - out_6200830679267345445[41] = 0; - out_6200830679267345445[42] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[45] = 0; - out_6200830679267345445[46] = 0; - out_6200830679267345445[47] = 0; - out_6200830679267345445[48] = 0; - out_6200830679267345445[49] = 0; - out_6200830679267345445[50] = 0; - out_6200830679267345445[51] = 0; - out_6200830679267345445[52] = 0; - out_6200830679267345445[53] = 0; - out_6200830679267345445[54] = 0; - out_6200830679267345445[55] = 0; - out_6200830679267345445[56] = 0; - out_6200830679267345445[57] = 1; - out_6200830679267345445[58] = 0; - out_6200830679267345445[59] = 0; - out_6200830679267345445[60] = 0; - out_6200830679267345445[61] = 0; - out_6200830679267345445[62] = 0; - out_6200830679267345445[63] = 0; - out_6200830679267345445[64] = 0; - out_6200830679267345445[65] = 0; - out_6200830679267345445[66] = dt; - out_6200830679267345445[67] = 0; - out_6200830679267345445[68] = 0; - out_6200830679267345445[69] = 0; - out_6200830679267345445[70] = 0; - out_6200830679267345445[71] = 0; - out_6200830679267345445[72] = 0; - out_6200830679267345445[73] = 0; - out_6200830679267345445[74] = 0; - out_6200830679267345445[75] = 0; - out_6200830679267345445[76] = 1; - out_6200830679267345445[77] = 0; - out_6200830679267345445[78] = 0; - out_6200830679267345445[79] = 0; - out_6200830679267345445[80] = 0; - out_6200830679267345445[81] = 0; - out_6200830679267345445[82] = 0; - out_6200830679267345445[83] = 0; - out_6200830679267345445[84] = 0; - out_6200830679267345445[85] = dt; - out_6200830679267345445[86] = 0; - out_6200830679267345445[87] = 0; - out_6200830679267345445[88] = 0; - out_6200830679267345445[89] = 0; - out_6200830679267345445[90] = 0; - out_6200830679267345445[91] = 0; - out_6200830679267345445[92] = 0; - out_6200830679267345445[93] = 0; - out_6200830679267345445[94] = 0; - out_6200830679267345445[95] = 1; - out_6200830679267345445[96] = 0; - out_6200830679267345445[97] = 0; - out_6200830679267345445[98] = 0; - out_6200830679267345445[99] = 0; - out_6200830679267345445[100] = 0; - out_6200830679267345445[101] = 0; - out_6200830679267345445[102] = 0; - out_6200830679267345445[103] = 0; - out_6200830679267345445[104] = dt; - out_6200830679267345445[105] = 0; - out_6200830679267345445[106] = 0; - out_6200830679267345445[107] = 0; - out_6200830679267345445[108] = 0; - out_6200830679267345445[109] = 0; - out_6200830679267345445[110] = 0; - out_6200830679267345445[111] = 0; - out_6200830679267345445[112] = 0; - out_6200830679267345445[113] = 0; - out_6200830679267345445[114] = 1; - out_6200830679267345445[115] = 0; - out_6200830679267345445[116] = 0; - out_6200830679267345445[117] = 0; - out_6200830679267345445[118] = 0; - out_6200830679267345445[119] = 0; - out_6200830679267345445[120] = 0; - out_6200830679267345445[121] = 0; - out_6200830679267345445[122] = 0; - out_6200830679267345445[123] = 0; - out_6200830679267345445[124] = 0; - out_6200830679267345445[125] = 0; - out_6200830679267345445[126] = 0; - out_6200830679267345445[127] = 0; - out_6200830679267345445[128] = 0; - out_6200830679267345445[129] = 0; - out_6200830679267345445[130] = 0; - out_6200830679267345445[131] = 0; - out_6200830679267345445[132] = 0; - out_6200830679267345445[133] = 1; - out_6200830679267345445[134] = 0; - out_6200830679267345445[135] = 0; - out_6200830679267345445[136] = 0; - out_6200830679267345445[137] = 0; - out_6200830679267345445[138] = 0; - out_6200830679267345445[139] = 0; - out_6200830679267345445[140] = 0; - out_6200830679267345445[141] = 0; - out_6200830679267345445[142] = 0; - out_6200830679267345445[143] = 0; - out_6200830679267345445[144] = 0; - out_6200830679267345445[145] = 0; - out_6200830679267345445[146] = 0; - out_6200830679267345445[147] = 0; - out_6200830679267345445[148] = 0; - out_6200830679267345445[149] = 0; - out_6200830679267345445[150] = 0; - out_6200830679267345445[151] = 0; - out_6200830679267345445[152] = 1; - out_6200830679267345445[153] = 0; - out_6200830679267345445[154] = 0; - out_6200830679267345445[155] = 0; - out_6200830679267345445[156] = 0; - out_6200830679267345445[157] = 0; - out_6200830679267345445[158] = 0; - out_6200830679267345445[159] = 0; - out_6200830679267345445[160] = 0; - out_6200830679267345445[161] = 0; - out_6200830679267345445[162] = 0; - out_6200830679267345445[163] = 0; - out_6200830679267345445[164] = 0; - out_6200830679267345445[165] = 0; - out_6200830679267345445[166] = 0; - out_6200830679267345445[167] = 0; - out_6200830679267345445[168] = 0; - out_6200830679267345445[169] = 0; - out_6200830679267345445[170] = 0; - out_6200830679267345445[171] = 1; - out_6200830679267345445[172] = 0; - out_6200830679267345445[173] = 0; - out_6200830679267345445[174] = 0; - out_6200830679267345445[175] = 0; - out_6200830679267345445[176] = 0; - out_6200830679267345445[177] = 0; - out_6200830679267345445[178] = 0; - out_6200830679267345445[179] = 0; - out_6200830679267345445[180] = 0; - out_6200830679267345445[181] = 0; - out_6200830679267345445[182] = 0; - out_6200830679267345445[183] = 0; - out_6200830679267345445[184] = 0; - out_6200830679267345445[185] = 0; - out_6200830679267345445[186] = 0; - out_6200830679267345445[187] = 0; - out_6200830679267345445[188] = 0; - out_6200830679267345445[189] = 0; - out_6200830679267345445[190] = 1; - out_6200830679267345445[191] = 0; - out_6200830679267345445[192] = 0; - out_6200830679267345445[193] = 0; - out_6200830679267345445[194] = 0; - out_6200830679267345445[195] = 0; - out_6200830679267345445[196] = 0; - out_6200830679267345445[197] = 0; - out_6200830679267345445[198] = 0; - out_6200830679267345445[199] = 0; - out_6200830679267345445[200] = 0; - out_6200830679267345445[201] = 0; - out_6200830679267345445[202] = 0; - out_6200830679267345445[203] = 0; - out_6200830679267345445[204] = 0; - out_6200830679267345445[205] = 0; - out_6200830679267345445[206] = 0; - out_6200830679267345445[207] = 0; - out_6200830679267345445[208] = 0; - out_6200830679267345445[209] = 1; - out_6200830679267345445[210] = 0; - out_6200830679267345445[211] = 0; - out_6200830679267345445[212] = 0; - out_6200830679267345445[213] = 0; - out_6200830679267345445[214] = 0; - out_6200830679267345445[215] = 0; - out_6200830679267345445[216] = 0; - out_6200830679267345445[217] = 0; - out_6200830679267345445[218] = 0; - out_6200830679267345445[219] = 0; - out_6200830679267345445[220] = 0; - out_6200830679267345445[221] = 0; - out_6200830679267345445[222] = 0; - out_6200830679267345445[223] = 0; - out_6200830679267345445[224] = 0; - out_6200830679267345445[225] = 0; - out_6200830679267345445[226] = 0; - out_6200830679267345445[227] = 0; - out_6200830679267345445[228] = 1; - out_6200830679267345445[229] = 0; - out_6200830679267345445[230] = 0; - out_6200830679267345445[231] = 0; - out_6200830679267345445[232] = 0; - out_6200830679267345445[233] = 0; - out_6200830679267345445[234] = 0; - out_6200830679267345445[235] = 0; - out_6200830679267345445[236] = 0; - out_6200830679267345445[237] = 0; - out_6200830679267345445[238] = 0; - out_6200830679267345445[239] = 0; - out_6200830679267345445[240] = 0; - out_6200830679267345445[241] = 0; - out_6200830679267345445[242] = 0; - out_6200830679267345445[243] = 0; - out_6200830679267345445[244] = 0; - out_6200830679267345445[245] = 0; - out_6200830679267345445[246] = 0; - out_6200830679267345445[247] = 1; - out_6200830679267345445[248] = 0; - out_6200830679267345445[249] = 0; - out_6200830679267345445[250] = 0; - out_6200830679267345445[251] = 0; - out_6200830679267345445[252] = 0; - out_6200830679267345445[253] = 0; - out_6200830679267345445[254] = 0; - out_6200830679267345445[255] = 0; - out_6200830679267345445[256] = 0; - out_6200830679267345445[257] = 0; - out_6200830679267345445[258] = 0; - out_6200830679267345445[259] = 0; - out_6200830679267345445[260] = 0; - out_6200830679267345445[261] = 0; - out_6200830679267345445[262] = 0; - out_6200830679267345445[263] = 0; - out_6200830679267345445[264] = 0; - out_6200830679267345445[265] = 0; - out_6200830679267345445[266] = 1; - out_6200830679267345445[267] = 0; - out_6200830679267345445[268] = 0; - out_6200830679267345445[269] = 0; - out_6200830679267345445[270] = 0; - out_6200830679267345445[271] = 0; - out_6200830679267345445[272] = 0; - out_6200830679267345445[273] = 0; - out_6200830679267345445[274] = 0; - out_6200830679267345445[275] = 0; - out_6200830679267345445[276] = 0; - out_6200830679267345445[277] = 0; - out_6200830679267345445[278] = 0; - out_6200830679267345445[279] = 0; - out_6200830679267345445[280] = 0; - out_6200830679267345445[281] = 0; - out_6200830679267345445[282] = 0; - out_6200830679267345445[283] = 0; - out_6200830679267345445[284] = 0; - out_6200830679267345445[285] = 1; - out_6200830679267345445[286] = 0; - out_6200830679267345445[287] = 0; - out_6200830679267345445[288] = 0; - out_6200830679267345445[289] = 0; - out_6200830679267345445[290] = 0; - out_6200830679267345445[291] = 0; - out_6200830679267345445[292] = 0; - out_6200830679267345445[293] = 0; - out_6200830679267345445[294] = 0; - out_6200830679267345445[295] = 0; - out_6200830679267345445[296] = 0; - out_6200830679267345445[297] = 0; - out_6200830679267345445[298] = 0; - out_6200830679267345445[299] = 0; - out_6200830679267345445[300] = 0; - out_6200830679267345445[301] = 0; - out_6200830679267345445[302] = 0; - out_6200830679267345445[303] = 0; - out_6200830679267345445[304] = 1; - out_6200830679267345445[305] = 0; - out_6200830679267345445[306] = 0; - out_6200830679267345445[307] = 0; - out_6200830679267345445[308] = 0; - out_6200830679267345445[309] = 0; - out_6200830679267345445[310] = 0; - out_6200830679267345445[311] = 0; - out_6200830679267345445[312] = 0; - out_6200830679267345445[313] = 0; - out_6200830679267345445[314] = 0; - out_6200830679267345445[315] = 0; - out_6200830679267345445[316] = 0; - out_6200830679267345445[317] = 0; - out_6200830679267345445[318] = 0; - out_6200830679267345445[319] = 0; - out_6200830679267345445[320] = 0; - out_6200830679267345445[321] = 0; - out_6200830679267345445[322] = 0; - out_6200830679267345445[323] = 1; +void F_fun(double *state, double dt, double *out_4341253320848234007) { + out_4341253320848234007[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_4341253320848234007[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_4341253320848234007[2] = 0; + out_4341253320848234007[3] = 0; + out_4341253320848234007[4] = 0; + out_4341253320848234007[5] = 0; + out_4341253320848234007[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_4341253320848234007[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_4341253320848234007[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_4341253320848234007[9] = 0; + out_4341253320848234007[10] = 0; + out_4341253320848234007[11] = 0; + out_4341253320848234007[12] = 0; + out_4341253320848234007[13] = 0; + out_4341253320848234007[14] = 0; + out_4341253320848234007[15] = 0; + out_4341253320848234007[16] = 0; + out_4341253320848234007[17] = 0; + out_4341253320848234007[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_4341253320848234007[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_4341253320848234007[20] = 0; + out_4341253320848234007[21] = 0; + out_4341253320848234007[22] = 0; + out_4341253320848234007[23] = 0; + out_4341253320848234007[24] = 0; + out_4341253320848234007[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_4341253320848234007[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_4341253320848234007[27] = 0; + out_4341253320848234007[28] = 0; + out_4341253320848234007[29] = 0; + out_4341253320848234007[30] = 0; + out_4341253320848234007[31] = 0; + out_4341253320848234007[32] = 0; + out_4341253320848234007[33] = 0; + out_4341253320848234007[34] = 0; + out_4341253320848234007[35] = 0; + out_4341253320848234007[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_4341253320848234007[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_4341253320848234007[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_4341253320848234007[39] = 0; + out_4341253320848234007[40] = 0; + out_4341253320848234007[41] = 0; + out_4341253320848234007[42] = 0; + out_4341253320848234007[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_4341253320848234007[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_4341253320848234007[45] = 0; + out_4341253320848234007[46] = 0; + out_4341253320848234007[47] = 0; + out_4341253320848234007[48] = 0; + out_4341253320848234007[49] = 0; + out_4341253320848234007[50] = 0; + out_4341253320848234007[51] = 0; + out_4341253320848234007[52] = 0; + out_4341253320848234007[53] = 0; + out_4341253320848234007[54] = 0; + out_4341253320848234007[55] = 0; + out_4341253320848234007[56] = 0; + out_4341253320848234007[57] = 1; + out_4341253320848234007[58] = 0; + out_4341253320848234007[59] = 0; + out_4341253320848234007[60] = 0; + out_4341253320848234007[61] = 0; + out_4341253320848234007[62] = 0; + out_4341253320848234007[63] = 0; + out_4341253320848234007[64] = 0; + out_4341253320848234007[65] = 0; + out_4341253320848234007[66] = dt; + out_4341253320848234007[67] = 0; + out_4341253320848234007[68] = 0; + out_4341253320848234007[69] = 0; + out_4341253320848234007[70] = 0; + out_4341253320848234007[71] = 0; + out_4341253320848234007[72] = 0; + out_4341253320848234007[73] = 0; + out_4341253320848234007[74] = 0; + out_4341253320848234007[75] = 0; + out_4341253320848234007[76] = 1; + out_4341253320848234007[77] = 0; + out_4341253320848234007[78] = 0; + out_4341253320848234007[79] = 0; + out_4341253320848234007[80] = 0; + out_4341253320848234007[81] = 0; + out_4341253320848234007[82] = 0; + out_4341253320848234007[83] = 0; + out_4341253320848234007[84] = 0; + out_4341253320848234007[85] = dt; + out_4341253320848234007[86] = 0; + out_4341253320848234007[87] = 0; + out_4341253320848234007[88] = 0; + out_4341253320848234007[89] = 0; + out_4341253320848234007[90] = 0; + out_4341253320848234007[91] = 0; + out_4341253320848234007[92] = 0; + out_4341253320848234007[93] = 0; + out_4341253320848234007[94] = 0; + out_4341253320848234007[95] = 1; + out_4341253320848234007[96] = 0; + out_4341253320848234007[97] = 0; + out_4341253320848234007[98] = 0; + out_4341253320848234007[99] = 0; + out_4341253320848234007[100] = 0; + out_4341253320848234007[101] = 0; + out_4341253320848234007[102] = 0; + out_4341253320848234007[103] = 0; + out_4341253320848234007[104] = dt; + out_4341253320848234007[105] = 0; + out_4341253320848234007[106] = 0; + out_4341253320848234007[107] = 0; + out_4341253320848234007[108] = 0; + out_4341253320848234007[109] = 0; + out_4341253320848234007[110] = 0; + out_4341253320848234007[111] = 0; + out_4341253320848234007[112] = 0; + out_4341253320848234007[113] = 0; + out_4341253320848234007[114] = 1; + out_4341253320848234007[115] = 0; + out_4341253320848234007[116] = 0; + out_4341253320848234007[117] = 0; + out_4341253320848234007[118] = 0; + out_4341253320848234007[119] = 0; + out_4341253320848234007[120] = 0; + out_4341253320848234007[121] = 0; + out_4341253320848234007[122] = 0; + out_4341253320848234007[123] = 0; + out_4341253320848234007[124] = 0; + out_4341253320848234007[125] = 0; + out_4341253320848234007[126] = 0; + out_4341253320848234007[127] = 0; + out_4341253320848234007[128] = 0; + out_4341253320848234007[129] = 0; + out_4341253320848234007[130] = 0; + out_4341253320848234007[131] = 0; + out_4341253320848234007[132] = 0; + out_4341253320848234007[133] = 1; + out_4341253320848234007[134] = 0; + out_4341253320848234007[135] = 0; + out_4341253320848234007[136] = 0; + out_4341253320848234007[137] = 0; + out_4341253320848234007[138] = 0; + out_4341253320848234007[139] = 0; + out_4341253320848234007[140] = 0; + out_4341253320848234007[141] = 0; + out_4341253320848234007[142] = 0; + out_4341253320848234007[143] = 0; + out_4341253320848234007[144] = 0; + out_4341253320848234007[145] = 0; + out_4341253320848234007[146] = 0; + out_4341253320848234007[147] = 0; + out_4341253320848234007[148] = 0; + out_4341253320848234007[149] = 0; + out_4341253320848234007[150] = 0; + out_4341253320848234007[151] = 0; + out_4341253320848234007[152] = 1; + out_4341253320848234007[153] = 0; + out_4341253320848234007[154] = 0; + out_4341253320848234007[155] = 0; + out_4341253320848234007[156] = 0; + out_4341253320848234007[157] = 0; + out_4341253320848234007[158] = 0; + out_4341253320848234007[159] = 0; + out_4341253320848234007[160] = 0; + out_4341253320848234007[161] = 0; + out_4341253320848234007[162] = 0; + out_4341253320848234007[163] = 0; + out_4341253320848234007[164] = 0; + out_4341253320848234007[165] = 0; + out_4341253320848234007[166] = 0; + out_4341253320848234007[167] = 0; + out_4341253320848234007[168] = 0; + out_4341253320848234007[169] = 0; + out_4341253320848234007[170] = 0; + out_4341253320848234007[171] = 1; + out_4341253320848234007[172] = 0; + out_4341253320848234007[173] = 0; + out_4341253320848234007[174] = 0; + out_4341253320848234007[175] = 0; + out_4341253320848234007[176] = 0; + out_4341253320848234007[177] = 0; + out_4341253320848234007[178] = 0; + out_4341253320848234007[179] = 0; + out_4341253320848234007[180] = 0; + out_4341253320848234007[181] = 0; + out_4341253320848234007[182] = 0; + out_4341253320848234007[183] = 0; + out_4341253320848234007[184] = 0; + out_4341253320848234007[185] = 0; + out_4341253320848234007[186] = 0; + out_4341253320848234007[187] = 0; + out_4341253320848234007[188] = 0; + out_4341253320848234007[189] = 0; + out_4341253320848234007[190] = 1; + out_4341253320848234007[191] = 0; + out_4341253320848234007[192] = 0; + out_4341253320848234007[193] = 0; + out_4341253320848234007[194] = 0; + out_4341253320848234007[195] = 0; + out_4341253320848234007[196] = 0; + out_4341253320848234007[197] = 0; + out_4341253320848234007[198] = 0; + out_4341253320848234007[199] = 0; + out_4341253320848234007[200] = 0; + out_4341253320848234007[201] = 0; + out_4341253320848234007[202] = 0; + out_4341253320848234007[203] = 0; + out_4341253320848234007[204] = 0; + out_4341253320848234007[205] = 0; + out_4341253320848234007[206] = 0; + out_4341253320848234007[207] = 0; + out_4341253320848234007[208] = 0; + out_4341253320848234007[209] = 1; + out_4341253320848234007[210] = 0; + out_4341253320848234007[211] = 0; + out_4341253320848234007[212] = 0; + out_4341253320848234007[213] = 0; + out_4341253320848234007[214] = 0; + out_4341253320848234007[215] = 0; + out_4341253320848234007[216] = 0; + out_4341253320848234007[217] = 0; + out_4341253320848234007[218] = 0; + out_4341253320848234007[219] = 0; + out_4341253320848234007[220] = 0; + out_4341253320848234007[221] = 0; + out_4341253320848234007[222] = 0; + out_4341253320848234007[223] = 0; + out_4341253320848234007[224] = 0; + out_4341253320848234007[225] = 0; + out_4341253320848234007[226] = 0; + out_4341253320848234007[227] = 0; + out_4341253320848234007[228] = 1; + out_4341253320848234007[229] = 0; + out_4341253320848234007[230] = 0; + out_4341253320848234007[231] = 0; + out_4341253320848234007[232] = 0; + out_4341253320848234007[233] = 0; + out_4341253320848234007[234] = 0; + out_4341253320848234007[235] = 0; + out_4341253320848234007[236] = 0; + out_4341253320848234007[237] = 0; + out_4341253320848234007[238] = 0; + out_4341253320848234007[239] = 0; + out_4341253320848234007[240] = 0; + out_4341253320848234007[241] = 0; + out_4341253320848234007[242] = 0; + out_4341253320848234007[243] = 0; + out_4341253320848234007[244] = 0; + out_4341253320848234007[245] = 0; + out_4341253320848234007[246] = 0; + out_4341253320848234007[247] = 1; + out_4341253320848234007[248] = 0; + out_4341253320848234007[249] = 0; + out_4341253320848234007[250] = 0; + out_4341253320848234007[251] = 0; + out_4341253320848234007[252] = 0; + out_4341253320848234007[253] = 0; + out_4341253320848234007[254] = 0; + out_4341253320848234007[255] = 0; + out_4341253320848234007[256] = 0; + out_4341253320848234007[257] = 0; + out_4341253320848234007[258] = 0; + out_4341253320848234007[259] = 0; + out_4341253320848234007[260] = 0; + out_4341253320848234007[261] = 0; + out_4341253320848234007[262] = 0; + out_4341253320848234007[263] = 0; + out_4341253320848234007[264] = 0; + out_4341253320848234007[265] = 0; + out_4341253320848234007[266] = 1; + out_4341253320848234007[267] = 0; + out_4341253320848234007[268] = 0; + out_4341253320848234007[269] = 0; + out_4341253320848234007[270] = 0; + out_4341253320848234007[271] = 0; + out_4341253320848234007[272] = 0; + out_4341253320848234007[273] = 0; + out_4341253320848234007[274] = 0; + out_4341253320848234007[275] = 0; + out_4341253320848234007[276] = 0; + out_4341253320848234007[277] = 0; + out_4341253320848234007[278] = 0; + out_4341253320848234007[279] = 0; + out_4341253320848234007[280] = 0; + out_4341253320848234007[281] = 0; + out_4341253320848234007[282] = 0; + out_4341253320848234007[283] = 0; + out_4341253320848234007[284] = 0; + out_4341253320848234007[285] = 1; + out_4341253320848234007[286] = 0; + out_4341253320848234007[287] = 0; + out_4341253320848234007[288] = 0; + out_4341253320848234007[289] = 0; + out_4341253320848234007[290] = 0; + out_4341253320848234007[291] = 0; + out_4341253320848234007[292] = 0; + out_4341253320848234007[293] = 0; + out_4341253320848234007[294] = 0; + out_4341253320848234007[295] = 0; + out_4341253320848234007[296] = 0; + out_4341253320848234007[297] = 0; + out_4341253320848234007[298] = 0; + out_4341253320848234007[299] = 0; + out_4341253320848234007[300] = 0; + out_4341253320848234007[301] = 0; + out_4341253320848234007[302] = 0; + out_4341253320848234007[303] = 0; + out_4341253320848234007[304] = 1; + out_4341253320848234007[305] = 0; + out_4341253320848234007[306] = 0; + out_4341253320848234007[307] = 0; + out_4341253320848234007[308] = 0; + out_4341253320848234007[309] = 0; + out_4341253320848234007[310] = 0; + out_4341253320848234007[311] = 0; + out_4341253320848234007[312] = 0; + out_4341253320848234007[313] = 0; + out_4341253320848234007[314] = 0; + out_4341253320848234007[315] = 0; + out_4341253320848234007[316] = 0; + out_4341253320848234007[317] = 0; + out_4341253320848234007[318] = 0; + out_4341253320848234007[319] = 0; + out_4341253320848234007[320] = 0; + out_4341253320848234007[321] = 0; + out_4341253320848234007[322] = 0; + out_4341253320848234007[323] = 1; } -void h_4(double *state, double *unused, double *out_2281311047032518481) { - out_2281311047032518481[0] = state[6] + state[9]; - out_2281311047032518481[1] = state[7] + state[10]; - out_2281311047032518481[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_6128102438980532385) { + out_6128102438980532385[0] = state[6] + state[9]; + out_6128102438980532385[1] = state[7] + state[10]; + out_6128102438980532385[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1022733465120271490) { - out_1022733465120271490[0] = 0; - out_1022733465120271490[1] = 0; - out_1022733465120271490[2] = 0; - out_1022733465120271490[3] = 0; - out_1022733465120271490[4] = 0; - out_1022733465120271490[5] = 0; - out_1022733465120271490[6] = 1; - out_1022733465120271490[7] = 0; - out_1022733465120271490[8] = 0; - out_1022733465120271490[9] = 1; - out_1022733465120271490[10] = 0; - out_1022733465120271490[11] = 0; - out_1022733465120271490[12] = 0; - out_1022733465120271490[13] = 0; - out_1022733465120271490[14] = 0; - out_1022733465120271490[15] = 0; - out_1022733465120271490[16] = 0; - out_1022733465120271490[17] = 0; - out_1022733465120271490[18] = 0; - out_1022733465120271490[19] = 0; - out_1022733465120271490[20] = 0; - out_1022733465120271490[21] = 0; - out_1022733465120271490[22] = 0; - out_1022733465120271490[23] = 0; - out_1022733465120271490[24] = 0; - out_1022733465120271490[25] = 1; - out_1022733465120271490[26] = 0; - out_1022733465120271490[27] = 0; - out_1022733465120271490[28] = 1; - out_1022733465120271490[29] = 0; - out_1022733465120271490[30] = 0; - out_1022733465120271490[31] = 0; - out_1022733465120271490[32] = 0; - out_1022733465120271490[33] = 0; - out_1022733465120271490[34] = 0; - out_1022733465120271490[35] = 0; - out_1022733465120271490[36] = 0; - out_1022733465120271490[37] = 0; - out_1022733465120271490[38] = 0; - out_1022733465120271490[39] = 0; - out_1022733465120271490[40] = 0; - out_1022733465120271490[41] = 0; - out_1022733465120271490[42] = 0; - out_1022733465120271490[43] = 0; - out_1022733465120271490[44] = 1; - out_1022733465120271490[45] = 0; - out_1022733465120271490[46] = 0; - out_1022733465120271490[47] = 1; - out_1022733465120271490[48] = 0; - out_1022733465120271490[49] = 0; - out_1022733465120271490[50] = 0; - out_1022733465120271490[51] = 0; - out_1022733465120271490[52] = 0; - out_1022733465120271490[53] = 0; +void H_4(double *state, double *unused, double *out_6428253825808133060) { + out_6428253825808133060[0] = 0; + out_6428253825808133060[1] = 0; + out_6428253825808133060[2] = 0; + out_6428253825808133060[3] = 0; + out_6428253825808133060[4] = 0; + out_6428253825808133060[5] = 0; + out_6428253825808133060[6] = 1; + out_6428253825808133060[7] = 0; + out_6428253825808133060[8] = 0; + out_6428253825808133060[9] = 1; + out_6428253825808133060[10] = 0; + out_6428253825808133060[11] = 0; + out_6428253825808133060[12] = 0; + out_6428253825808133060[13] = 0; + out_6428253825808133060[14] = 0; + out_6428253825808133060[15] = 0; + out_6428253825808133060[16] = 0; + out_6428253825808133060[17] = 0; + out_6428253825808133060[18] = 0; + out_6428253825808133060[19] = 0; + out_6428253825808133060[20] = 0; + out_6428253825808133060[21] = 0; + out_6428253825808133060[22] = 0; + out_6428253825808133060[23] = 0; + out_6428253825808133060[24] = 0; + out_6428253825808133060[25] = 1; + out_6428253825808133060[26] = 0; + out_6428253825808133060[27] = 0; + out_6428253825808133060[28] = 1; + out_6428253825808133060[29] = 0; + out_6428253825808133060[30] = 0; + out_6428253825808133060[31] = 0; + out_6428253825808133060[32] = 0; + out_6428253825808133060[33] = 0; + out_6428253825808133060[34] = 0; + out_6428253825808133060[35] = 0; + out_6428253825808133060[36] = 0; + out_6428253825808133060[37] = 0; + out_6428253825808133060[38] = 0; + out_6428253825808133060[39] = 0; + out_6428253825808133060[40] = 0; + out_6428253825808133060[41] = 0; + out_6428253825808133060[42] = 0; + out_6428253825808133060[43] = 0; + out_6428253825808133060[44] = 1; + out_6428253825808133060[45] = 0; + out_6428253825808133060[46] = 0; + out_6428253825808133060[47] = 1; + out_6428253825808133060[48] = 0; + out_6428253825808133060[49] = 0; + out_6428253825808133060[50] = 0; + out_6428253825808133060[51] = 0; + out_6428253825808133060[52] = 0; + out_6428253825808133060[53] = 0; } -void h_10(double *state, double *unused, double *out_7298821485634386065) { - out_7298821485634386065[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7298821485634386065[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7298821485634386065[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_1886304758557187825) { + out_1886304758557187825[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1886304758557187825[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1886304758557187825[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_4580916266697147042) { - out_4580916266697147042[0] = 0; - out_4580916266697147042[1] = 9.8100000000000005*cos(state[1]); - out_4580916266697147042[2] = 0; - out_4580916266697147042[3] = 0; - out_4580916266697147042[4] = -state[8]; - out_4580916266697147042[5] = state[7]; - out_4580916266697147042[6] = 0; - out_4580916266697147042[7] = state[5]; - out_4580916266697147042[8] = -state[4]; - out_4580916266697147042[9] = 0; - out_4580916266697147042[10] = 0; - out_4580916266697147042[11] = 0; - out_4580916266697147042[12] = 1; - out_4580916266697147042[13] = 0; - out_4580916266697147042[14] = 0; - out_4580916266697147042[15] = 1; - out_4580916266697147042[16] = 0; - out_4580916266697147042[17] = 0; - out_4580916266697147042[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4580916266697147042[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4580916266697147042[20] = 0; - out_4580916266697147042[21] = state[8]; - out_4580916266697147042[22] = 0; - out_4580916266697147042[23] = -state[6]; - out_4580916266697147042[24] = -state[5]; - out_4580916266697147042[25] = 0; - out_4580916266697147042[26] = state[3]; - out_4580916266697147042[27] = 0; - out_4580916266697147042[28] = 0; - out_4580916266697147042[29] = 0; - out_4580916266697147042[30] = 0; - out_4580916266697147042[31] = 1; - out_4580916266697147042[32] = 0; - out_4580916266697147042[33] = 0; - out_4580916266697147042[34] = 1; - out_4580916266697147042[35] = 0; - out_4580916266697147042[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4580916266697147042[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4580916266697147042[38] = 0; - out_4580916266697147042[39] = -state[7]; - out_4580916266697147042[40] = state[6]; - out_4580916266697147042[41] = 0; - out_4580916266697147042[42] = state[4]; - out_4580916266697147042[43] = -state[3]; - out_4580916266697147042[44] = 0; - out_4580916266697147042[45] = 0; - out_4580916266697147042[46] = 0; - out_4580916266697147042[47] = 0; - out_4580916266697147042[48] = 0; - out_4580916266697147042[49] = 0; - out_4580916266697147042[50] = 1; - out_4580916266697147042[51] = 0; - out_4580916266697147042[52] = 0; - out_4580916266697147042[53] = 1; +void H_10(double *state, double *unused, double *out_8187218168232665500) { + out_8187218168232665500[0] = 0; + out_8187218168232665500[1] = 9.8100000000000005*cos(state[1]); + out_8187218168232665500[2] = 0; + out_8187218168232665500[3] = 0; + out_8187218168232665500[4] = -state[8]; + out_8187218168232665500[5] = state[7]; + out_8187218168232665500[6] = 0; + out_8187218168232665500[7] = state[5]; + out_8187218168232665500[8] = -state[4]; + out_8187218168232665500[9] = 0; + out_8187218168232665500[10] = 0; + out_8187218168232665500[11] = 0; + out_8187218168232665500[12] = 1; + out_8187218168232665500[13] = 0; + out_8187218168232665500[14] = 0; + out_8187218168232665500[15] = 1; + out_8187218168232665500[16] = 0; + out_8187218168232665500[17] = 0; + out_8187218168232665500[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_8187218168232665500[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_8187218168232665500[20] = 0; + out_8187218168232665500[21] = state[8]; + out_8187218168232665500[22] = 0; + out_8187218168232665500[23] = -state[6]; + out_8187218168232665500[24] = -state[5]; + out_8187218168232665500[25] = 0; + out_8187218168232665500[26] = state[3]; + out_8187218168232665500[27] = 0; + out_8187218168232665500[28] = 0; + out_8187218168232665500[29] = 0; + out_8187218168232665500[30] = 0; + out_8187218168232665500[31] = 1; + out_8187218168232665500[32] = 0; + out_8187218168232665500[33] = 0; + out_8187218168232665500[34] = 1; + out_8187218168232665500[35] = 0; + out_8187218168232665500[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_8187218168232665500[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_8187218168232665500[38] = 0; + out_8187218168232665500[39] = -state[7]; + out_8187218168232665500[40] = state[6]; + out_8187218168232665500[41] = 0; + out_8187218168232665500[42] = state[4]; + out_8187218168232665500[43] = -state[3]; + out_8187218168232665500[44] = 0; + out_8187218168232665500[45] = 0; + out_8187218168232665500[46] = 0; + out_8187218168232665500[47] = 0; + out_8187218168232665500[48] = 0; + out_8187218168232665500[49] = 0; + out_8187218168232665500[50] = 1; + out_8187218168232665500[51] = 0; + out_8187218168232665500[52] = 0; + out_8187218168232665500[53] = 1; } -void h_13(double *state, double *unused, double *out_1884508169225221663) { - out_1884508169225221663[0] = state[3]; - out_1884508169225221663[1] = state[4]; - out_1884508169225221663[2] = state[5]; +void h_13(double *state, double *unused, double *out_1675328109498391522) { + out_1675328109498391522[0] = state[3]; + out_1675328109498391522[1] = state[4]; + out_1675328109498391522[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2189540360212061311) { - out_2189540360212061311[0] = 0; - out_2189540360212061311[1] = 0; - out_2189540360212061311[2] = 0; - out_2189540360212061311[3] = 1; - out_2189540360212061311[4] = 0; - out_2189540360212061311[5] = 0; - out_2189540360212061311[6] = 0; - out_2189540360212061311[7] = 0; - out_2189540360212061311[8] = 0; - out_2189540360212061311[9] = 0; - out_2189540360212061311[10] = 0; - out_2189540360212061311[11] = 0; - out_2189540360212061311[12] = 0; - out_2189540360212061311[13] = 0; - out_2189540360212061311[14] = 0; - out_2189540360212061311[15] = 0; - out_2189540360212061311[16] = 0; - out_2189540360212061311[17] = 0; - out_2189540360212061311[18] = 0; - out_2189540360212061311[19] = 0; - out_2189540360212061311[20] = 0; - out_2189540360212061311[21] = 0; - out_2189540360212061311[22] = 1; - out_2189540360212061311[23] = 0; - out_2189540360212061311[24] = 0; - out_2189540360212061311[25] = 0; - out_2189540360212061311[26] = 0; - out_2189540360212061311[27] = 0; - out_2189540360212061311[28] = 0; - out_2189540360212061311[29] = 0; - out_2189540360212061311[30] = 0; - out_2189540360212061311[31] = 0; - out_2189540360212061311[32] = 0; - out_2189540360212061311[33] = 0; - out_2189540360212061311[34] = 0; - out_2189540360212061311[35] = 0; - out_2189540360212061311[36] = 0; - out_2189540360212061311[37] = 0; - out_2189540360212061311[38] = 0; - out_2189540360212061311[39] = 0; - out_2189540360212061311[40] = 0; - out_2189540360212061311[41] = 1; - out_2189540360212061311[42] = 0; - out_2189540360212061311[43] = 0; - out_2189540360212061311[44] = 0; - out_2189540360212061311[45] = 0; - out_2189540360212061311[46] = 0; - out_2189540360212061311[47] = 0; - out_2189540360212061311[48] = 0; - out_2189540360212061311[49] = 0; - out_2189540360212061311[50] = 0; - out_2189540360212061311[51] = 0; - out_2189540360212061311[52] = 0; - out_2189540360212061311[53] = 0; +void H_13(double *state, double *unused, double *out_4407859039584717627) { + out_4407859039584717627[0] = 0; + out_4407859039584717627[1] = 0; + out_4407859039584717627[2] = 0; + out_4407859039584717627[3] = 1; + out_4407859039584717627[4] = 0; + out_4407859039584717627[5] = 0; + out_4407859039584717627[6] = 0; + out_4407859039584717627[7] = 0; + out_4407859039584717627[8] = 0; + out_4407859039584717627[9] = 0; + out_4407859039584717627[10] = 0; + out_4407859039584717627[11] = 0; + out_4407859039584717627[12] = 0; + out_4407859039584717627[13] = 0; + out_4407859039584717627[14] = 0; + out_4407859039584717627[15] = 0; + out_4407859039584717627[16] = 0; + out_4407859039584717627[17] = 0; + out_4407859039584717627[18] = 0; + out_4407859039584717627[19] = 0; + out_4407859039584717627[20] = 0; + out_4407859039584717627[21] = 0; + out_4407859039584717627[22] = 1; + out_4407859039584717627[23] = 0; + out_4407859039584717627[24] = 0; + out_4407859039584717627[25] = 0; + out_4407859039584717627[26] = 0; + out_4407859039584717627[27] = 0; + out_4407859039584717627[28] = 0; + out_4407859039584717627[29] = 0; + out_4407859039584717627[30] = 0; + out_4407859039584717627[31] = 0; + out_4407859039584717627[32] = 0; + out_4407859039584717627[33] = 0; + out_4407859039584717627[34] = 0; + out_4407859039584717627[35] = 0; + out_4407859039584717627[36] = 0; + out_4407859039584717627[37] = 0; + out_4407859039584717627[38] = 0; + out_4407859039584717627[39] = 0; + out_4407859039584717627[40] = 0; + out_4407859039584717627[41] = 1; + out_4407859039584717627[42] = 0; + out_4407859039584717627[43] = 0; + out_4407859039584717627[44] = 0; + out_4407859039584717627[45] = 0; + out_4407859039584717627[46] = 0; + out_4407859039584717627[47] = 0; + out_4407859039584717627[48] = 0; + out_4407859039584717627[49] = 0; + out_4407859039584717627[50] = 0; + out_4407859039584717627[51] = 0; + out_4407859039584717627[52] = 0; + out_4407859039584717627[53] = 0; } -void h_14(double *state, double *unused, double *out_1873182816391455999) { - out_1873182816391455999[0] = state[6]; - out_1873182816391455999[1] = state[7]; - out_1873182816391455999[2] = state[8]; +void h_14(double *state, double *unused, double *out_6344247348281186472) { + out_6344247348281186472[0] = state[6]; + out_6344247348281186472[1] = state[7]; + out_6344247348281186472[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2940507391219213039) { - out_2940507391219213039[0] = 0; - out_2940507391219213039[1] = 0; - out_2940507391219213039[2] = 0; - out_2940507391219213039[3] = 0; - out_2940507391219213039[4] = 0; - out_2940507391219213039[5] = 0; - out_2940507391219213039[6] = 1; - out_2940507391219213039[7] = 0; - out_2940507391219213039[8] = 0; - out_2940507391219213039[9] = 0; - out_2940507391219213039[10] = 0; - out_2940507391219213039[11] = 0; - out_2940507391219213039[12] = 0; - out_2940507391219213039[13] = 0; - out_2940507391219213039[14] = 0; - out_2940507391219213039[15] = 0; - out_2940507391219213039[16] = 0; - out_2940507391219213039[17] = 0; - out_2940507391219213039[18] = 0; - out_2940507391219213039[19] = 0; - out_2940507391219213039[20] = 0; - out_2940507391219213039[21] = 0; - out_2940507391219213039[22] = 0; - out_2940507391219213039[23] = 0; - out_2940507391219213039[24] = 0; - out_2940507391219213039[25] = 1; - out_2940507391219213039[26] = 0; - out_2940507391219213039[27] = 0; - out_2940507391219213039[28] = 0; - out_2940507391219213039[29] = 0; - out_2940507391219213039[30] = 0; - out_2940507391219213039[31] = 0; - out_2940507391219213039[32] = 0; - out_2940507391219213039[33] = 0; - out_2940507391219213039[34] = 0; - out_2940507391219213039[35] = 0; - out_2940507391219213039[36] = 0; - out_2940507391219213039[37] = 0; - out_2940507391219213039[38] = 0; - out_2940507391219213039[39] = 0; - out_2940507391219213039[40] = 0; - out_2940507391219213039[41] = 0; - out_2940507391219213039[42] = 0; - out_2940507391219213039[43] = 0; - out_2940507391219213039[44] = 1; - out_2940507391219213039[45] = 0; - out_2940507391219213039[46] = 0; - out_2940507391219213039[47] = 0; - out_2940507391219213039[48] = 0; - out_2940507391219213039[49] = 0; - out_2940507391219213039[50] = 0; - out_2940507391219213039[51] = 0; - out_2940507391219213039[52] = 0; - out_2940507391219213039[53] = 0; +void H_14(double *state, double *unused, double *out_3345465393512760764) { + out_3345465393512760764[0] = 0; + out_3345465393512760764[1] = 0; + out_3345465393512760764[2] = 0; + out_3345465393512760764[3] = 0; + out_3345465393512760764[4] = 0; + out_3345465393512760764[5] = 0; + out_3345465393512760764[6] = 1; + out_3345465393512760764[7] = 0; + out_3345465393512760764[8] = 0; + out_3345465393512760764[9] = 0; + out_3345465393512760764[10] = 0; + out_3345465393512760764[11] = 0; + out_3345465393512760764[12] = 0; + out_3345465393512760764[13] = 0; + out_3345465393512760764[14] = 0; + out_3345465393512760764[15] = 0; + out_3345465393512760764[16] = 0; + out_3345465393512760764[17] = 0; + out_3345465393512760764[18] = 0; + out_3345465393512760764[19] = 0; + out_3345465393512760764[20] = 0; + out_3345465393512760764[21] = 0; + out_3345465393512760764[22] = 0; + out_3345465393512760764[23] = 0; + out_3345465393512760764[24] = 0; + out_3345465393512760764[25] = 1; + out_3345465393512760764[26] = 0; + out_3345465393512760764[27] = 0; + out_3345465393512760764[28] = 0; + out_3345465393512760764[29] = 0; + out_3345465393512760764[30] = 0; + out_3345465393512760764[31] = 0; + out_3345465393512760764[32] = 0; + out_3345465393512760764[33] = 0; + out_3345465393512760764[34] = 0; + out_3345465393512760764[35] = 0; + out_3345465393512760764[36] = 0; + out_3345465393512760764[37] = 0; + out_3345465393512760764[38] = 0; + out_3345465393512760764[39] = 0; + out_3345465393512760764[40] = 0; + out_3345465393512760764[41] = 0; + out_3345465393512760764[42] = 0; + out_3345465393512760764[43] = 0; + out_3345465393512760764[44] = 1; + out_3345465393512760764[45] = 0; + out_3345465393512760764[46] = 0; + out_3345465393512760764[47] = 0; + out_3345465393512760764[48] = 0; + out_3345465393512760764[49] = 0; + out_3345465393512760764[50] = 0; + out_3345465393512760764[51] = 0; + out_3345465393512760764[52] = 0; + out_3345465393512760764[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_3037457306540495367) { - err_fun(nom_x, delta_x, out_3037457306540495367); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5195610458540139902) { + err_fun(nom_x, delta_x, out_5195610458540139902); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146) { - inv_err_fun(nom_x, true_x, out_5504742843249496146); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7314439786479166241) { + inv_err_fun(nom_x, true_x, out_7314439786479166241); } -void pose_H_mod_fun(double *state, double *out_4825348341631687231) { - H_mod_fun(state, out_4825348341631687231); +void pose_H_mod_fun(double *state, double *out_8818080346799948532) { + H_mod_fun(state, out_8818080346799948532); } -void pose_f_fun(double *state, double dt, double *out_6515554172087681296) { - f_fun(state, dt, out_6515554172087681296); +void pose_f_fun(double *state, double dt, double *out_4287776289429729412) { + f_fun(state, dt, out_4287776289429729412); } -void pose_F_fun(double *state, double dt, double *out_6200830679267345445) { - F_fun(state, dt, out_6200830679267345445); +void pose_F_fun(double *state, double dt, double *out_4341253320848234007) { + F_fun(state, dt, out_4341253320848234007); } -void pose_h_4(double *state, double *unused, double *out_2281311047032518481) { - h_4(state, unused, out_2281311047032518481); +void pose_h_4(double *state, double *unused, double *out_6128102438980532385) { + h_4(state, unused, out_6128102438980532385); } -void pose_H_4(double *state, double *unused, double *out_1022733465120271490) { - H_4(state, unused, out_1022733465120271490); +void pose_H_4(double *state, double *unused, double *out_6428253825808133060) { + H_4(state, unused, out_6428253825808133060); } -void pose_h_10(double *state, double *unused, double *out_7298821485634386065) { - h_10(state, unused, out_7298821485634386065); +void pose_h_10(double *state, double *unused, double *out_1886304758557187825) { + h_10(state, unused, out_1886304758557187825); } -void pose_H_10(double *state, double *unused, double *out_4580916266697147042) { - H_10(state, unused, out_4580916266697147042); +void pose_H_10(double *state, double *unused, double *out_8187218168232665500) { + H_10(state, unused, out_8187218168232665500); } -void pose_h_13(double *state, double *unused, double *out_1884508169225221663) { - h_13(state, unused, out_1884508169225221663); +void pose_h_13(double *state, double *unused, double *out_1675328109498391522) { + h_13(state, unused, out_1675328109498391522); } -void pose_H_13(double *state, double *unused, double *out_2189540360212061311) { - H_13(state, unused, out_2189540360212061311); +void pose_H_13(double *state, double *unused, double *out_4407859039584717627) { + H_13(state, unused, out_4407859039584717627); } -void pose_h_14(double *state, double *unused, double *out_1873182816391455999) { - h_14(state, unused, out_1873182816391455999); +void pose_h_14(double *state, double *unused, double *out_6344247348281186472) { + h_14(state, unused, out_6344247348281186472); } -void pose_H_14(double *state, double *unused, double *out_2940507391219213039) { - H_14(state, unused, out_2940507391219213039); +void pose_H_14(double *state, double *unused, double *out_3345465393512760764) { + H_14(state, unused, out_3345465393512760764); } 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 075735d0c..7644f3a16 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_3037457306540495367); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146); -void pose_H_mod_fun(double *state, double *out_4825348341631687231); -void pose_f_fun(double *state, double dt, double *out_6515554172087681296); -void pose_F_fun(double *state, double dt, double *out_6200830679267345445); -void pose_h_4(double *state, double *unused, double *out_2281311047032518481); -void pose_H_4(double *state, double *unused, double *out_1022733465120271490); -void pose_h_10(double *state, double *unused, double *out_7298821485634386065); -void pose_H_10(double *state, double *unused, double *out_4580916266697147042); -void pose_h_13(double *state, double *unused, double *out_1884508169225221663); -void pose_H_13(double *state, double *unused, double *out_2189540360212061311); -void pose_h_14(double *state, double *unused, double *out_1873182816391455999); -void pose_H_14(double *state, double *unused, double *out_2940507391219213039); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5195610458540139902); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7314439786479166241); +void pose_H_mod_fun(double *state, double *out_8818080346799948532); +void pose_f_fun(double *state, double dt, double *out_4287776289429729412); +void pose_F_fun(double *state, double dt, double *out_4341253320848234007); +void pose_h_4(double *state, double *unused, double *out_6128102438980532385); +void pose_H_4(double *state, double *unused, double *out_6428253825808133060); +void pose_h_10(double *state, double *unused, double *out_1886304758557187825); +void pose_H_10(double *state, double *unused, double *out_8187218168232665500); +void pose_h_13(double *state, double *unused, double *out_1675328109498391522); +void pose_H_13(double *state, double *unused, double *out_4407859039584717627); +void pose_h_14(double *state, double *unused, double *out_6344247348281186472); +void pose_H_14(double *state, double *unused, double *out_3345465393512760764); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index a80ff970d..7de014fff 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 46a85d859..707041bb0 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