diff --git a/openpilot/selfdrive/locationd/models/generated/car.cpp b/openpilot/selfdrive/locationd/models/generated/car.cpp index 05370fed6e..ed752a039a 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.cpp +++ b/openpilot/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_7378461606150437313) { - out_7378461606150437313[0] = delta_x[0] + nom_x[0]; - out_7378461606150437313[1] = delta_x[1] + nom_x[1]; - out_7378461606150437313[2] = delta_x[2] + nom_x[2]; - out_7378461606150437313[3] = delta_x[3] + nom_x[3]; - out_7378461606150437313[4] = delta_x[4] + nom_x[4]; - out_7378461606150437313[5] = delta_x[5] + nom_x[5]; - out_7378461606150437313[6] = delta_x[6] + nom_x[6]; - out_7378461606150437313[7] = delta_x[7] + nom_x[7]; - out_7378461606150437313[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3470217287287697986) { + out_3470217287287697986[0] = delta_x[0] + nom_x[0]; + out_3470217287287697986[1] = delta_x[1] + nom_x[1]; + out_3470217287287697986[2] = delta_x[2] + nom_x[2]; + out_3470217287287697986[3] = delta_x[3] + nom_x[3]; + out_3470217287287697986[4] = delta_x[4] + nom_x[4]; + out_3470217287287697986[5] = delta_x[5] + nom_x[5]; + out_3470217287287697986[6] = delta_x[6] + nom_x[6]; + out_3470217287287697986[7] = delta_x[7] + nom_x[7]; + out_3470217287287697986[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_294189106821879139) { - out_294189106821879139[0] = -nom_x[0] + true_x[0]; - out_294189106821879139[1] = -nom_x[1] + true_x[1]; - out_294189106821879139[2] = -nom_x[2] + true_x[2]; - out_294189106821879139[3] = -nom_x[3] + true_x[3]; - out_294189106821879139[4] = -nom_x[4] + true_x[4]; - out_294189106821879139[5] = -nom_x[5] + true_x[5]; - out_294189106821879139[6] = -nom_x[6] + true_x[6]; - out_294189106821879139[7] = -nom_x[7] + true_x[7]; - out_294189106821879139[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5423086811818805380) { + out_5423086811818805380[0] = -nom_x[0] + true_x[0]; + out_5423086811818805380[1] = -nom_x[1] + true_x[1]; + out_5423086811818805380[2] = -nom_x[2] + true_x[2]; + out_5423086811818805380[3] = -nom_x[3] + true_x[3]; + out_5423086811818805380[4] = -nom_x[4] + true_x[4]; + out_5423086811818805380[5] = -nom_x[5] + true_x[5]; + out_5423086811818805380[6] = -nom_x[6] + true_x[6]; + out_5423086811818805380[7] = -nom_x[7] + true_x[7]; + out_5423086811818805380[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4621094181659745510) { - out_4621094181659745510[0] = 1.0; - out_4621094181659745510[1] = 0.0; - out_4621094181659745510[2] = 0.0; - out_4621094181659745510[3] = 0.0; - out_4621094181659745510[4] = 0.0; - out_4621094181659745510[5] = 0.0; - out_4621094181659745510[6] = 0.0; - out_4621094181659745510[7] = 0.0; - out_4621094181659745510[8] = 0.0; - out_4621094181659745510[9] = 0.0; - out_4621094181659745510[10] = 1.0; - out_4621094181659745510[11] = 0.0; - out_4621094181659745510[12] = 0.0; - out_4621094181659745510[13] = 0.0; - out_4621094181659745510[14] = 0.0; - out_4621094181659745510[15] = 0.0; - out_4621094181659745510[16] = 0.0; - out_4621094181659745510[17] = 0.0; - out_4621094181659745510[18] = 0.0; - out_4621094181659745510[19] = 0.0; - out_4621094181659745510[20] = 1.0; - out_4621094181659745510[21] = 0.0; - out_4621094181659745510[22] = 0.0; - out_4621094181659745510[23] = 0.0; - out_4621094181659745510[24] = 0.0; - out_4621094181659745510[25] = 0.0; - out_4621094181659745510[26] = 0.0; - out_4621094181659745510[27] = 0.0; - out_4621094181659745510[28] = 0.0; - out_4621094181659745510[29] = 0.0; - out_4621094181659745510[30] = 1.0; - out_4621094181659745510[31] = 0.0; - out_4621094181659745510[32] = 0.0; - out_4621094181659745510[33] = 0.0; - out_4621094181659745510[34] = 0.0; - out_4621094181659745510[35] = 0.0; - out_4621094181659745510[36] = 0.0; - out_4621094181659745510[37] = 0.0; - out_4621094181659745510[38] = 0.0; - out_4621094181659745510[39] = 0.0; - out_4621094181659745510[40] = 1.0; - out_4621094181659745510[41] = 0.0; - out_4621094181659745510[42] = 0.0; - out_4621094181659745510[43] = 0.0; - out_4621094181659745510[44] = 0.0; - out_4621094181659745510[45] = 0.0; - out_4621094181659745510[46] = 0.0; - out_4621094181659745510[47] = 0.0; - out_4621094181659745510[48] = 0.0; - out_4621094181659745510[49] = 0.0; - out_4621094181659745510[50] = 1.0; - out_4621094181659745510[51] = 0.0; - out_4621094181659745510[52] = 0.0; - out_4621094181659745510[53] = 0.0; - out_4621094181659745510[54] = 0.0; - out_4621094181659745510[55] = 0.0; - out_4621094181659745510[56] = 0.0; - out_4621094181659745510[57] = 0.0; - out_4621094181659745510[58] = 0.0; - out_4621094181659745510[59] = 0.0; - out_4621094181659745510[60] = 1.0; - out_4621094181659745510[61] = 0.0; - out_4621094181659745510[62] = 0.0; - out_4621094181659745510[63] = 0.0; - out_4621094181659745510[64] = 0.0; - out_4621094181659745510[65] = 0.0; - out_4621094181659745510[66] = 0.0; - out_4621094181659745510[67] = 0.0; - out_4621094181659745510[68] = 0.0; - out_4621094181659745510[69] = 0.0; - out_4621094181659745510[70] = 1.0; - out_4621094181659745510[71] = 0.0; - out_4621094181659745510[72] = 0.0; - out_4621094181659745510[73] = 0.0; - out_4621094181659745510[74] = 0.0; - out_4621094181659745510[75] = 0.0; - out_4621094181659745510[76] = 0.0; - out_4621094181659745510[77] = 0.0; - out_4621094181659745510[78] = 0.0; - out_4621094181659745510[79] = 0.0; - out_4621094181659745510[80] = 1.0; +void H_mod_fun(double *state, double *out_8859145476210338021) { + out_8859145476210338021[0] = 1.0; + out_8859145476210338021[1] = 0.0; + out_8859145476210338021[2] = 0.0; + out_8859145476210338021[3] = 0.0; + out_8859145476210338021[4] = 0.0; + out_8859145476210338021[5] = 0.0; + out_8859145476210338021[6] = 0.0; + out_8859145476210338021[7] = 0.0; + out_8859145476210338021[8] = 0.0; + out_8859145476210338021[9] = 0.0; + out_8859145476210338021[10] = 1.0; + out_8859145476210338021[11] = 0.0; + out_8859145476210338021[12] = 0.0; + out_8859145476210338021[13] = 0.0; + out_8859145476210338021[14] = 0.0; + out_8859145476210338021[15] = 0.0; + out_8859145476210338021[16] = 0.0; + out_8859145476210338021[17] = 0.0; + out_8859145476210338021[18] = 0.0; + out_8859145476210338021[19] = 0.0; + out_8859145476210338021[20] = 1.0; + out_8859145476210338021[21] = 0.0; + out_8859145476210338021[22] = 0.0; + out_8859145476210338021[23] = 0.0; + out_8859145476210338021[24] = 0.0; + out_8859145476210338021[25] = 0.0; + out_8859145476210338021[26] = 0.0; + out_8859145476210338021[27] = 0.0; + out_8859145476210338021[28] = 0.0; + out_8859145476210338021[29] = 0.0; + out_8859145476210338021[30] = 1.0; + out_8859145476210338021[31] = 0.0; + out_8859145476210338021[32] = 0.0; + out_8859145476210338021[33] = 0.0; + out_8859145476210338021[34] = 0.0; + out_8859145476210338021[35] = 0.0; + out_8859145476210338021[36] = 0.0; + out_8859145476210338021[37] = 0.0; + out_8859145476210338021[38] = 0.0; + out_8859145476210338021[39] = 0.0; + out_8859145476210338021[40] = 1.0; + out_8859145476210338021[41] = 0.0; + out_8859145476210338021[42] = 0.0; + out_8859145476210338021[43] = 0.0; + out_8859145476210338021[44] = 0.0; + out_8859145476210338021[45] = 0.0; + out_8859145476210338021[46] = 0.0; + out_8859145476210338021[47] = 0.0; + out_8859145476210338021[48] = 0.0; + out_8859145476210338021[49] = 0.0; + out_8859145476210338021[50] = 1.0; + out_8859145476210338021[51] = 0.0; + out_8859145476210338021[52] = 0.0; + out_8859145476210338021[53] = 0.0; + out_8859145476210338021[54] = 0.0; + out_8859145476210338021[55] = 0.0; + out_8859145476210338021[56] = 0.0; + out_8859145476210338021[57] = 0.0; + out_8859145476210338021[58] = 0.0; + out_8859145476210338021[59] = 0.0; + out_8859145476210338021[60] = 1.0; + out_8859145476210338021[61] = 0.0; + out_8859145476210338021[62] = 0.0; + out_8859145476210338021[63] = 0.0; + out_8859145476210338021[64] = 0.0; + out_8859145476210338021[65] = 0.0; + out_8859145476210338021[66] = 0.0; + out_8859145476210338021[67] = 0.0; + out_8859145476210338021[68] = 0.0; + out_8859145476210338021[69] = 0.0; + out_8859145476210338021[70] = 1.0; + out_8859145476210338021[71] = 0.0; + out_8859145476210338021[72] = 0.0; + out_8859145476210338021[73] = 0.0; + out_8859145476210338021[74] = 0.0; + out_8859145476210338021[75] = 0.0; + out_8859145476210338021[76] = 0.0; + out_8859145476210338021[77] = 0.0; + out_8859145476210338021[78] = 0.0; + out_8859145476210338021[79] = 0.0; + out_8859145476210338021[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2614999472635489174) { - out_2614999472635489174[0] = state[0]; - out_2614999472635489174[1] = state[1]; - out_2614999472635489174[2] = state[2]; - out_2614999472635489174[3] = state[3]; - out_2614999472635489174[4] = state[4]; - out_2614999472635489174[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_2614999472635489174[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_2614999472635489174[7] = state[7]; - out_2614999472635489174[8] = state[8]; +void f_fun(double *state, double dt, double *out_4364048461385736387) { + out_4364048461385736387[0] = state[0]; + out_4364048461385736387[1] = state[1]; + out_4364048461385736387[2] = state[2]; + out_4364048461385736387[3] = state[3]; + out_4364048461385736387[4] = state[4]; + out_4364048461385736387[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_4364048461385736387[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_4364048461385736387[7] = state[7]; + out_4364048461385736387[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7956648669823198257) { - out_7956648669823198257[0] = 1; - out_7956648669823198257[1] = 0; - out_7956648669823198257[2] = 0; - out_7956648669823198257[3] = 0; - out_7956648669823198257[4] = 0; - out_7956648669823198257[5] = 0; - out_7956648669823198257[6] = 0; - out_7956648669823198257[7] = 0; - out_7956648669823198257[8] = 0; - out_7956648669823198257[9] = 0; - out_7956648669823198257[10] = 1; - out_7956648669823198257[11] = 0; - out_7956648669823198257[12] = 0; - out_7956648669823198257[13] = 0; - out_7956648669823198257[14] = 0; - out_7956648669823198257[15] = 0; - out_7956648669823198257[16] = 0; - out_7956648669823198257[17] = 0; - out_7956648669823198257[18] = 0; - out_7956648669823198257[19] = 0; - out_7956648669823198257[20] = 1; - out_7956648669823198257[21] = 0; - out_7956648669823198257[22] = 0; - out_7956648669823198257[23] = 0; - out_7956648669823198257[24] = 0; - out_7956648669823198257[25] = 0; - out_7956648669823198257[26] = 0; - out_7956648669823198257[27] = 0; - out_7956648669823198257[28] = 0; - out_7956648669823198257[29] = 0; - out_7956648669823198257[30] = 1; - out_7956648669823198257[31] = 0; - out_7956648669823198257[32] = 0; - out_7956648669823198257[33] = 0; - out_7956648669823198257[34] = 0; - out_7956648669823198257[35] = 0; - out_7956648669823198257[36] = 0; - out_7956648669823198257[37] = 0; - out_7956648669823198257[38] = 0; - out_7956648669823198257[39] = 0; - out_7956648669823198257[40] = 1; - out_7956648669823198257[41] = 0; - out_7956648669823198257[42] = 0; - out_7956648669823198257[43] = 0; - out_7956648669823198257[44] = 0; - out_7956648669823198257[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_7956648669823198257[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7956648669823198257[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7956648669823198257[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7956648669823198257[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_7956648669823198257[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7956648669823198257[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7956648669823198257[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7956648669823198257[53] = -9.8100000000000005*dt; - out_7956648669823198257[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_7956648669823198257[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7956648669823198257[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7956648669823198257[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7956648669823198257[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_7956648669823198257[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7956648669823198257[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_7956648669823198257[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7956648669823198257[62] = 0; - out_7956648669823198257[63] = 0; - out_7956648669823198257[64] = 0; - out_7956648669823198257[65] = 0; - out_7956648669823198257[66] = 0; - out_7956648669823198257[67] = 0; - out_7956648669823198257[68] = 0; - out_7956648669823198257[69] = 0; - out_7956648669823198257[70] = 1; - out_7956648669823198257[71] = 0; - out_7956648669823198257[72] = 0; - out_7956648669823198257[73] = 0; - out_7956648669823198257[74] = 0; - out_7956648669823198257[75] = 0; - out_7956648669823198257[76] = 0; - out_7956648669823198257[77] = 0; - out_7956648669823198257[78] = 0; - out_7956648669823198257[79] = 0; - out_7956648669823198257[80] = 1; +void F_fun(double *state, double dt, double *out_5736261136038400283) { + out_5736261136038400283[0] = 1; + out_5736261136038400283[1] = 0; + out_5736261136038400283[2] = 0; + out_5736261136038400283[3] = 0; + out_5736261136038400283[4] = 0; + out_5736261136038400283[5] = 0; + out_5736261136038400283[6] = 0; + out_5736261136038400283[7] = 0; + out_5736261136038400283[8] = 0; + out_5736261136038400283[9] = 0; + out_5736261136038400283[10] = 1; + out_5736261136038400283[11] = 0; + out_5736261136038400283[12] = 0; + out_5736261136038400283[13] = 0; + out_5736261136038400283[14] = 0; + out_5736261136038400283[15] = 0; + out_5736261136038400283[16] = 0; + out_5736261136038400283[17] = 0; + out_5736261136038400283[18] = 0; + out_5736261136038400283[19] = 0; + out_5736261136038400283[20] = 1; + out_5736261136038400283[21] = 0; + out_5736261136038400283[22] = 0; + out_5736261136038400283[23] = 0; + out_5736261136038400283[24] = 0; + out_5736261136038400283[25] = 0; + out_5736261136038400283[26] = 0; + out_5736261136038400283[27] = 0; + out_5736261136038400283[28] = 0; + out_5736261136038400283[29] = 0; + out_5736261136038400283[30] = 1; + out_5736261136038400283[31] = 0; + out_5736261136038400283[32] = 0; + out_5736261136038400283[33] = 0; + out_5736261136038400283[34] = 0; + out_5736261136038400283[35] = 0; + out_5736261136038400283[36] = 0; + out_5736261136038400283[37] = 0; + out_5736261136038400283[38] = 0; + out_5736261136038400283[39] = 0; + out_5736261136038400283[40] = 1; + out_5736261136038400283[41] = 0; + out_5736261136038400283[42] = 0; + out_5736261136038400283[43] = 0; + out_5736261136038400283[44] = 0; + out_5736261136038400283[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_5736261136038400283[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5736261136038400283[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5736261136038400283[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5736261136038400283[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_5736261136038400283[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5736261136038400283[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5736261136038400283[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5736261136038400283[53] = -9.8100000000000005*dt; + out_5736261136038400283[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_5736261136038400283[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5736261136038400283[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5736261136038400283[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5736261136038400283[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_5736261136038400283[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5736261136038400283[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_5736261136038400283[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5736261136038400283[62] = 0; + out_5736261136038400283[63] = 0; + out_5736261136038400283[64] = 0; + out_5736261136038400283[65] = 0; + out_5736261136038400283[66] = 0; + out_5736261136038400283[67] = 0; + out_5736261136038400283[68] = 0; + out_5736261136038400283[69] = 0; + out_5736261136038400283[70] = 1; + out_5736261136038400283[71] = 0; + out_5736261136038400283[72] = 0; + out_5736261136038400283[73] = 0; + out_5736261136038400283[74] = 0; + out_5736261136038400283[75] = 0; + out_5736261136038400283[76] = 0; + out_5736261136038400283[77] = 0; + out_5736261136038400283[78] = 0; + out_5736261136038400283[79] = 0; + out_5736261136038400283[80] = 1; } -void h_25(double *state, double *unused, double *out_5695726182074513639) { - out_5695726182074513639[0] = state[6]; +void h_25(double *state, double *unused, double *out_2839818080272470940) { + out_2839818080272470940[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5061492031990537509) { - out_5061492031990537509[0] = 0; - out_5061492031990537509[1] = 0; - out_5061492031990537509[2] = 0; - out_5061492031990537509[3] = 0; - out_5061492031990537509[4] = 0; - out_5061492031990537509[5] = 0; - out_5061492031990537509[6] = 1; - out_5061492031990537509[7] = 0; - out_5061492031990537509[8] = 0; +void H_25(double *state, double *unused, double *out_6064617947509721918) { + out_6064617947509721918[0] = 0; + out_6064617947509721918[1] = 0; + out_6064617947509721918[2] = 0; + out_6064617947509721918[3] = 0; + out_6064617947509721918[4] = 0; + out_6064617947509721918[5] = 0; + out_6064617947509721918[6] = 1; + out_6064617947509721918[7] = 0; + out_6064617947509721918[8] = 0; } -void h_24(double *state, double *unused, double *out_7087152536231624463) { - out_7087152536231624463[0] = state[4]; - out_7087152536231624463[1] = state[5]; +void h_24(double *state, double *unused, double *out_6639924414496629328) { + out_6639924414496629328[0] = state[4]; + out_6639924414496629328[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7234141630996037075) { - out_7234141630996037075[0] = 0; - out_7234141630996037075[1] = 0; - out_7234141630996037075[2] = 0; - out_7234141630996037075[3] = 0; - out_7234141630996037075[4] = 1; - out_7234141630996037075[5] = 0; - out_7234141630996037075[6] = 0; - out_7234141630996037075[7] = 0; - out_7234141630996037075[8] = 0; - out_7234141630996037075[9] = 0; - out_7234141630996037075[10] = 0; - out_7234141630996037075[11] = 0; - out_7234141630996037075[12] = 0; - out_7234141630996037075[13] = 0; - out_7234141630996037075[14] = 1; - out_7234141630996037075[15] = 0; - out_7234141630996037075[16] = 0; - out_7234141630996037075[17] = 0; +void H_24(double *state, double *unused, double *out_2506692348707398782) { + out_2506692348707398782[0] = 0; + out_2506692348707398782[1] = 0; + out_2506692348707398782[2] = 0; + out_2506692348707398782[3] = 0; + out_2506692348707398782[4] = 1; + out_2506692348707398782[5] = 0; + out_2506692348707398782[6] = 0; + out_2506692348707398782[7] = 0; + out_2506692348707398782[8] = 0; + out_2506692348707398782[9] = 0; + out_2506692348707398782[10] = 0; + out_2506692348707398782[11] = 0; + out_2506692348707398782[12] = 0; + out_2506692348707398782[13] = 0; + out_2506692348707398782[14] = 1; + out_2506692348707398782[15] = 0; + out_2506692348707398782[16] = 0; + out_2506692348707398782[17] = 0; } -void h_30(double *state, double *unused, double *out_2067539074746158802) { - out_2067539074746158802[0] = state[4]; +void h_30(double *state, double *unused, double *out_1319846228188637228) { + out_1319846228188637228[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1855198309501079246) { - out_1855198309501079246[0] = 0; - out_1855198309501079246[1] = 0; - out_1855198309501079246[2] = 0; - out_1855198309501079246[3] = 0; - out_1855198309501079246[4] = 1; - out_1855198309501079246[5] = 0; - out_1855198309501079246[6] = 0; - out_1855198309501079246[7] = 0; - out_1855198309501079246[8] = 0; +void H_30(double *state, double *unused, double *out_7854429796072221500) { + out_7854429796072221500[0] = 0; + out_7854429796072221500[1] = 0; + out_7854429796072221500[2] = 0; + out_7854429796072221500[3] = 0; + out_7854429796072221500[4] = 1; + out_7854429796072221500[5] = 0; + out_7854429796072221500[6] = 0; + out_7854429796072221500[7] = 0; + out_7854429796072221500[8] = 0; } -void h_26(double *state, double *unused, double *out_7069212342407004447) { - out_7069212342407004447[0] = state[7]; +void h_26(double *state, double *unused, double *out_7198131715747352316) { + out_7198131715747352316[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1756966062229736908) { - out_1756966062229736908[0] = 0; - out_1756966062229736908[1] = 0; - out_1756966062229736908[2] = 0; - out_1756966062229736908[3] = 0; - out_1756966062229736908[4] = 0; - out_1756966062229736908[5] = 0; - out_1756966062229736908[6] = 0; - out_1756966062229736908[7] = 1; - out_1756966062229736908[8] = 0; +void H_26(double *state, double *unused, double *out_8640622807325773474) { + out_8640622807325773474[0] = 0; + out_8640622807325773474[1] = 0; + out_8640622807325773474[2] = 0; + out_8640622807325773474[3] = 0; + out_8640622807325773474[4] = 0; + out_8640622807325773474[5] = 0; + out_8640622807325773474[6] = 0; + out_8640622807325773474[7] = 1; + out_8640622807325773474[8] = 0; } -void h_27(double *state, double *unused, double *out_4033180971766345651) { - out_4033180971766345651[0] = state[3]; +void h_27(double *state, double *unused, double *out_3285488125208824077) { + out_3285488125208824077[0] = state[3]; } -void H_27(double *state, double *unused, double *out_319565002299345665) { - out_319565002299345665[0] = 0; - out_319565002299345665[1] = 0; - out_319565002299345665[2] = 0; - out_319565002299345665[3] = 1; - out_319565002299345665[4] = 0; - out_319565002299345665[5] = 0; - out_319565002299345665[6] = 0; - out_319565002299345665[7] = 0; - out_319565002299345665[8] = 0; +void H_27(double *state, double *unused, double *out_8368720206453386899) { + out_8368720206453386899[0] = 0; + out_8368720206453386899[1] = 0; + out_8368720206453386899[2] = 0; + out_8368720206453386899[3] = 1; + out_8368720206453386899[4] = 0; + out_8368720206453386899[5] = 0; + out_8368720206453386899[6] = 0; + out_8368720206453386899[7] = 0; + out_8368720206453386899[8] = 0; } -void h_29(double *state, double *unused, double *out_2554646954709949512) { - out_2554646954709949512[0] = state[1]; +void h_29(double *state, double *unused, double *out_716530343512159711) { + out_716530343512159711[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2032927729168896698) { - out_2032927729168896698[0] = 0; - out_2032927729168896698[1] = 1; - out_2032927729168896698[2] = 0; - out_2032927729168896698[3] = 0; - out_2032927729168896698[4] = 0; - out_2032927729168896698[5] = 0; - out_2032927729168896698[6] = 0; - out_2032927729168896698[7] = 0; - out_2032927729168896698[8] = 0; +void H_29(double *state, double *unused, double *out_8364661140386613684) { + out_8364661140386613684[0] = 0; + out_8364661140386613684[1] = 1; + out_8364661140386613684[2] = 0; + out_8364661140386613684[3] = 0; + out_8364661140386613684[4] = 0; + out_8364661140386613684[5] = 0; + out_8364661140386613684[6] = 0; + out_8364661140386613684[7] = 0; + out_8364661140386613684[8] = 0; } -void h_28(double *state, double *unused, double *out_8157738379984158711) { - out_8157738379984158711[0] = state[0]; +void h_28(double *state, double *unused, double *out_1716185142452021568) { + out_1716185142452021568[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7115326746238427272) { - out_7115326746238427272[0] = 1; - out_7115326746238427272[1] = 0; - out_7115326746238427272[2] = 0; - out_7115326746238427272[3] = 0; - out_7115326746238427272[4] = 0; - out_7115326746238427272[5] = 0; - out_7115326746238427272[6] = 0; - out_7115326746238427272[7] = 0; - out_7115326746238427272[8] = 0; +void H_28(double *state, double *unused, double *out_8118452661757611681) { + out_8118452661757611681[0] = 1; + out_8118452661757611681[1] = 0; + out_8118452661757611681[2] = 0; + out_8118452661757611681[3] = 0; + out_8118452661757611681[4] = 0; + out_8118452661757611681[5] = 0; + out_8118452661757611681[6] = 0; + out_8118452661757611681[7] = 0; + out_8118452661757611681[8] = 0; } -void h_31(double *state, double *unused, double *out_5550206357853858668) { - out_5550206357853858668[0] = state[8]; +void h_31(double *state, double *unused, double *out_4542766280828628078) { + out_4542766280828628078[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2015183218521279744) { - out_2015183218521279744[0] = 0; - out_2015183218521279744[1] = 0; - out_2015183218521279744[2] = 0; - out_2015183218521279744[3] = 0; - out_2015183218521279744[4] = 0; - out_2015183218521279744[5] = 0; - out_2015183218521279744[6] = 0; - out_2015183218521279744[7] = 0; - out_2015183218521279744[8] = 1; +void H_31(double *state, double *unused, double *out_8014414705092421998) { + out_8014414705092421998[0] = 0; + out_8014414705092421998[1] = 0; + out_8014414705092421998[2] = 0; + out_8014414705092421998[3] = 0; + out_8014414705092421998[4] = 0; + out_8014414705092421998[5] = 0; + out_8014414705092421998[6] = 0; + out_8014414705092421998[7] = 0; + out_8014414705092421998[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_7378461606150437313) { - err_fun(nom_x, delta_x, out_7378461606150437313); +void car_err_fun(double *nom_x, double *delta_x, double *out_3470217287287697986) { + err_fun(nom_x, delta_x, out_3470217287287697986); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_294189106821879139) { - inv_err_fun(nom_x, true_x, out_294189106821879139); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5423086811818805380) { + inv_err_fun(nom_x, true_x, out_5423086811818805380); } -void car_H_mod_fun(double *state, double *out_4621094181659745510) { - H_mod_fun(state, out_4621094181659745510); +void car_H_mod_fun(double *state, double *out_8859145476210338021) { + H_mod_fun(state, out_8859145476210338021); } -void car_f_fun(double *state, double dt, double *out_2614999472635489174) { - f_fun(state, dt, out_2614999472635489174); +void car_f_fun(double *state, double dt, double *out_4364048461385736387) { + f_fun(state, dt, out_4364048461385736387); } -void car_F_fun(double *state, double dt, double *out_7956648669823198257) { - F_fun(state, dt, out_7956648669823198257); +void car_F_fun(double *state, double dt, double *out_5736261136038400283) { + F_fun(state, dt, out_5736261136038400283); } -void car_h_25(double *state, double *unused, double *out_5695726182074513639) { - h_25(state, unused, out_5695726182074513639); +void car_h_25(double *state, double *unused, double *out_2839818080272470940) { + h_25(state, unused, out_2839818080272470940); } -void car_H_25(double *state, double *unused, double *out_5061492031990537509) { - H_25(state, unused, out_5061492031990537509); +void car_H_25(double *state, double *unused, double *out_6064617947509721918) { + H_25(state, unused, out_6064617947509721918); } -void car_h_24(double *state, double *unused, double *out_7087152536231624463) { - h_24(state, unused, out_7087152536231624463); +void car_h_24(double *state, double *unused, double *out_6639924414496629328) { + h_24(state, unused, out_6639924414496629328); } -void car_H_24(double *state, double *unused, double *out_7234141630996037075) { - H_24(state, unused, out_7234141630996037075); +void car_H_24(double *state, double *unused, double *out_2506692348707398782) { + H_24(state, unused, out_2506692348707398782); } -void car_h_30(double *state, double *unused, double *out_2067539074746158802) { - h_30(state, unused, out_2067539074746158802); +void car_h_30(double *state, double *unused, double *out_1319846228188637228) { + h_30(state, unused, out_1319846228188637228); } -void car_H_30(double *state, double *unused, double *out_1855198309501079246) { - H_30(state, unused, out_1855198309501079246); +void car_H_30(double *state, double *unused, double *out_7854429796072221500) { + H_30(state, unused, out_7854429796072221500); } -void car_h_26(double *state, double *unused, double *out_7069212342407004447) { - h_26(state, unused, out_7069212342407004447); +void car_h_26(double *state, double *unused, double *out_7198131715747352316) { + h_26(state, unused, out_7198131715747352316); } -void car_H_26(double *state, double *unused, double *out_1756966062229736908) { - H_26(state, unused, out_1756966062229736908); +void car_H_26(double *state, double *unused, double *out_8640622807325773474) { + H_26(state, unused, out_8640622807325773474); } -void car_h_27(double *state, double *unused, double *out_4033180971766345651) { - h_27(state, unused, out_4033180971766345651); +void car_h_27(double *state, double *unused, double *out_3285488125208824077) { + h_27(state, unused, out_3285488125208824077); } -void car_H_27(double *state, double *unused, double *out_319565002299345665) { - H_27(state, unused, out_319565002299345665); +void car_H_27(double *state, double *unused, double *out_8368720206453386899) { + H_27(state, unused, out_8368720206453386899); } -void car_h_29(double *state, double *unused, double *out_2554646954709949512) { - h_29(state, unused, out_2554646954709949512); +void car_h_29(double *state, double *unused, double *out_716530343512159711) { + h_29(state, unused, out_716530343512159711); } -void car_H_29(double *state, double *unused, double *out_2032927729168896698) { - H_29(state, unused, out_2032927729168896698); +void car_H_29(double *state, double *unused, double *out_8364661140386613684) { + H_29(state, unused, out_8364661140386613684); } -void car_h_28(double *state, double *unused, double *out_8157738379984158711) { - h_28(state, unused, out_8157738379984158711); +void car_h_28(double *state, double *unused, double *out_1716185142452021568) { + h_28(state, unused, out_1716185142452021568); } -void car_H_28(double *state, double *unused, double *out_7115326746238427272) { - H_28(state, unused, out_7115326746238427272); +void car_H_28(double *state, double *unused, double *out_8118452661757611681) { + H_28(state, unused, out_8118452661757611681); } -void car_h_31(double *state, double *unused, double *out_5550206357853858668) { - h_31(state, unused, out_5550206357853858668); +void car_h_31(double *state, double *unused, double *out_4542766280828628078) { + h_31(state, unused, out_4542766280828628078); } -void car_H_31(double *state, double *unused, double *out_2015183218521279744) { - H_31(state, unused, out_2015183218521279744); +void car_H_31(double *state, double *unused, double *out_8014414705092421998) { + H_31(state, unused, out_8014414705092421998); } 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/openpilot/selfdrive/locationd/models/generated/car.h b/openpilot/selfdrive/locationd/models/generated/car.h index f1aa6ededc..3691567e97 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.h +++ b/openpilot/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_7378461606150437313); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_294189106821879139); -void car_H_mod_fun(double *state, double *out_4621094181659745510); -void car_f_fun(double *state, double dt, double *out_2614999472635489174); -void car_F_fun(double *state, double dt, double *out_7956648669823198257); -void car_h_25(double *state, double *unused, double *out_5695726182074513639); -void car_H_25(double *state, double *unused, double *out_5061492031990537509); -void car_h_24(double *state, double *unused, double *out_7087152536231624463); -void car_H_24(double *state, double *unused, double *out_7234141630996037075); -void car_h_30(double *state, double *unused, double *out_2067539074746158802); -void car_H_30(double *state, double *unused, double *out_1855198309501079246); -void car_h_26(double *state, double *unused, double *out_7069212342407004447); -void car_H_26(double *state, double *unused, double *out_1756966062229736908); -void car_h_27(double *state, double *unused, double *out_4033180971766345651); -void car_H_27(double *state, double *unused, double *out_319565002299345665); -void car_h_29(double *state, double *unused, double *out_2554646954709949512); -void car_H_29(double *state, double *unused, double *out_2032927729168896698); -void car_h_28(double *state, double *unused, double *out_8157738379984158711); -void car_H_28(double *state, double *unused, double *out_7115326746238427272); -void car_h_31(double *state, double *unused, double *out_5550206357853858668); -void car_H_31(double *state, double *unused, double *out_2015183218521279744); +void car_err_fun(double *nom_x, double *delta_x, double *out_3470217287287697986); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5423086811818805380); +void car_H_mod_fun(double *state, double *out_8859145476210338021); +void car_f_fun(double *state, double dt, double *out_4364048461385736387); +void car_F_fun(double *state, double dt, double *out_5736261136038400283); +void car_h_25(double *state, double *unused, double *out_2839818080272470940); +void car_H_25(double *state, double *unused, double *out_6064617947509721918); +void car_h_24(double *state, double *unused, double *out_6639924414496629328); +void car_H_24(double *state, double *unused, double *out_2506692348707398782); +void car_h_30(double *state, double *unused, double *out_1319846228188637228); +void car_H_30(double *state, double *unused, double *out_7854429796072221500); +void car_h_26(double *state, double *unused, double *out_7198131715747352316); +void car_H_26(double *state, double *unused, double *out_8640622807325773474); +void car_h_27(double *state, double *unused, double *out_3285488125208824077); +void car_H_27(double *state, double *unused, double *out_8368720206453386899); +void car_h_29(double *state, double *unused, double *out_716530343512159711); +void car_H_29(double *state, double *unused, double *out_8364661140386613684); +void car_h_28(double *state, double *unused, double *out_1716185142452021568); +void car_H_28(double *state, double *unused, double *out_8118452661757611681); +void car_h_31(double *state, double *unused, double *out_4542766280828628078); +void car_H_31(double *state, double *unused, double *out_8014414705092421998); 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/openpilot/selfdrive/locationd/models/generated/libcar.so b/openpilot/selfdrive/locationd/models/generated/libcar.so index 2dad0c8e8a..5e5f855b47 100755 Binary files a/openpilot/selfdrive/locationd/models/generated/libcar.so and b/openpilot/selfdrive/locationd/models/generated/libcar.so differ diff --git a/openpilot/selfdrive/locationd/models/generated/libpose.so b/openpilot/selfdrive/locationd/models/generated/libpose.so index 9fe88d7765..cd07be12db 100755 Binary files a/openpilot/selfdrive/locationd/models/generated/libpose.so and b/openpilot/selfdrive/locationd/models/generated/libpose.so differ diff --git a/openpilot/selfdrive/locationd/models/generated/pose.cpp b/openpilot/selfdrive/locationd/models/generated/pose.cpp index a696092b93..833f0c79ec 100644 --- a/openpilot/selfdrive/locationd/models/generated/pose.cpp +++ b/openpilot/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_5566842885647767369) { - out_5566842885647767369[0] = delta_x[0] + nom_x[0]; - out_5566842885647767369[1] = delta_x[1] + nom_x[1]; - out_5566842885647767369[2] = delta_x[2] + nom_x[2]; - out_5566842885647767369[3] = delta_x[3] + nom_x[3]; - out_5566842885647767369[4] = delta_x[4] + nom_x[4]; - out_5566842885647767369[5] = delta_x[5] + nom_x[5]; - out_5566842885647767369[6] = delta_x[6] + nom_x[6]; - out_5566842885647767369[7] = delta_x[7] + nom_x[7]; - out_5566842885647767369[8] = delta_x[8] + nom_x[8]; - out_5566842885647767369[9] = delta_x[9] + nom_x[9]; - out_5566842885647767369[10] = delta_x[10] + nom_x[10]; - out_5566842885647767369[11] = delta_x[11] + nom_x[11]; - out_5566842885647767369[12] = delta_x[12] + nom_x[12]; - out_5566842885647767369[13] = delta_x[13] + nom_x[13]; - out_5566842885647767369[14] = delta_x[14] + nom_x[14]; - out_5566842885647767369[15] = delta_x[15] + nom_x[15]; - out_5566842885647767369[16] = delta_x[16] + nom_x[16]; - out_5566842885647767369[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_6609500045983475884) { + out_6609500045983475884[0] = delta_x[0] + nom_x[0]; + out_6609500045983475884[1] = delta_x[1] + nom_x[1]; + out_6609500045983475884[2] = delta_x[2] + nom_x[2]; + out_6609500045983475884[3] = delta_x[3] + nom_x[3]; + out_6609500045983475884[4] = delta_x[4] + nom_x[4]; + out_6609500045983475884[5] = delta_x[5] + nom_x[5]; + out_6609500045983475884[6] = delta_x[6] + nom_x[6]; + out_6609500045983475884[7] = delta_x[7] + nom_x[7]; + out_6609500045983475884[8] = delta_x[8] + nom_x[8]; + out_6609500045983475884[9] = delta_x[9] + nom_x[9]; + out_6609500045983475884[10] = delta_x[10] + nom_x[10]; + out_6609500045983475884[11] = delta_x[11] + nom_x[11]; + out_6609500045983475884[12] = delta_x[12] + nom_x[12]; + out_6609500045983475884[13] = delta_x[13] + nom_x[13]; + out_6609500045983475884[14] = delta_x[14] + nom_x[14]; + out_6609500045983475884[15] = delta_x[15] + nom_x[15]; + out_6609500045983475884[16] = delta_x[16] + nom_x[16]; + out_6609500045983475884[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7605915063363770360) { - out_7605915063363770360[0] = -nom_x[0] + true_x[0]; - out_7605915063363770360[1] = -nom_x[1] + true_x[1]; - out_7605915063363770360[2] = -nom_x[2] + true_x[2]; - out_7605915063363770360[3] = -nom_x[3] + true_x[3]; - out_7605915063363770360[4] = -nom_x[4] + true_x[4]; - out_7605915063363770360[5] = -nom_x[5] + true_x[5]; - out_7605915063363770360[6] = -nom_x[6] + true_x[6]; - out_7605915063363770360[7] = -nom_x[7] + true_x[7]; - out_7605915063363770360[8] = -nom_x[8] + true_x[8]; - out_7605915063363770360[9] = -nom_x[9] + true_x[9]; - out_7605915063363770360[10] = -nom_x[10] + true_x[10]; - out_7605915063363770360[11] = -nom_x[11] + true_x[11]; - out_7605915063363770360[12] = -nom_x[12] + true_x[12]; - out_7605915063363770360[13] = -nom_x[13] + true_x[13]; - out_7605915063363770360[14] = -nom_x[14] + true_x[14]; - out_7605915063363770360[15] = -nom_x[15] + true_x[15]; - out_7605915063363770360[16] = -nom_x[16] + true_x[16]; - out_7605915063363770360[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_2251582086712269854) { + out_2251582086712269854[0] = -nom_x[0] + true_x[0]; + out_2251582086712269854[1] = -nom_x[1] + true_x[1]; + out_2251582086712269854[2] = -nom_x[2] + true_x[2]; + out_2251582086712269854[3] = -nom_x[3] + true_x[3]; + out_2251582086712269854[4] = -nom_x[4] + true_x[4]; + out_2251582086712269854[5] = -nom_x[5] + true_x[5]; + out_2251582086712269854[6] = -nom_x[6] + true_x[6]; + out_2251582086712269854[7] = -nom_x[7] + true_x[7]; + out_2251582086712269854[8] = -nom_x[8] + true_x[8]; + out_2251582086712269854[9] = -nom_x[9] + true_x[9]; + out_2251582086712269854[10] = -nom_x[10] + true_x[10]; + out_2251582086712269854[11] = -nom_x[11] + true_x[11]; + out_2251582086712269854[12] = -nom_x[12] + true_x[12]; + out_2251582086712269854[13] = -nom_x[13] + true_x[13]; + out_2251582086712269854[14] = -nom_x[14] + true_x[14]; + out_2251582086712269854[15] = -nom_x[15] + true_x[15]; + out_2251582086712269854[16] = -nom_x[16] + true_x[16]; + out_2251582086712269854[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_9174940369185036217) { - out_9174940369185036217[0] = 1.0; - out_9174940369185036217[1] = 0.0; - out_9174940369185036217[2] = 0.0; - out_9174940369185036217[3] = 0.0; - out_9174940369185036217[4] = 0.0; - out_9174940369185036217[5] = 0.0; - out_9174940369185036217[6] = 0.0; - out_9174940369185036217[7] = 0.0; - out_9174940369185036217[8] = 0.0; - out_9174940369185036217[9] = 0.0; - out_9174940369185036217[10] = 0.0; - out_9174940369185036217[11] = 0.0; - out_9174940369185036217[12] = 0.0; - out_9174940369185036217[13] = 0.0; - out_9174940369185036217[14] = 0.0; - out_9174940369185036217[15] = 0.0; - out_9174940369185036217[16] = 0.0; - out_9174940369185036217[17] = 0.0; - out_9174940369185036217[18] = 0.0; - out_9174940369185036217[19] = 1.0; - out_9174940369185036217[20] = 0.0; - out_9174940369185036217[21] = 0.0; - out_9174940369185036217[22] = 0.0; - out_9174940369185036217[23] = 0.0; - out_9174940369185036217[24] = 0.0; - out_9174940369185036217[25] = 0.0; - out_9174940369185036217[26] = 0.0; - out_9174940369185036217[27] = 0.0; - out_9174940369185036217[28] = 0.0; - out_9174940369185036217[29] = 0.0; - out_9174940369185036217[30] = 0.0; - out_9174940369185036217[31] = 0.0; - out_9174940369185036217[32] = 0.0; - out_9174940369185036217[33] = 0.0; - out_9174940369185036217[34] = 0.0; - out_9174940369185036217[35] = 0.0; - out_9174940369185036217[36] = 0.0; - out_9174940369185036217[37] = 0.0; - out_9174940369185036217[38] = 1.0; - out_9174940369185036217[39] = 0.0; - out_9174940369185036217[40] = 0.0; - out_9174940369185036217[41] = 0.0; - out_9174940369185036217[42] = 0.0; - out_9174940369185036217[43] = 0.0; - out_9174940369185036217[44] = 0.0; - out_9174940369185036217[45] = 0.0; - out_9174940369185036217[46] = 0.0; - out_9174940369185036217[47] = 0.0; - out_9174940369185036217[48] = 0.0; - out_9174940369185036217[49] = 0.0; - out_9174940369185036217[50] = 0.0; - out_9174940369185036217[51] = 0.0; - out_9174940369185036217[52] = 0.0; - out_9174940369185036217[53] = 0.0; - out_9174940369185036217[54] = 0.0; - out_9174940369185036217[55] = 0.0; - out_9174940369185036217[56] = 0.0; - out_9174940369185036217[57] = 1.0; - out_9174940369185036217[58] = 0.0; - out_9174940369185036217[59] = 0.0; - out_9174940369185036217[60] = 0.0; - out_9174940369185036217[61] = 0.0; - out_9174940369185036217[62] = 0.0; - out_9174940369185036217[63] = 0.0; - out_9174940369185036217[64] = 0.0; - out_9174940369185036217[65] = 0.0; - out_9174940369185036217[66] = 0.0; - out_9174940369185036217[67] = 0.0; - out_9174940369185036217[68] = 0.0; - out_9174940369185036217[69] = 0.0; - out_9174940369185036217[70] = 0.0; - out_9174940369185036217[71] = 0.0; - out_9174940369185036217[72] = 0.0; - out_9174940369185036217[73] = 0.0; - out_9174940369185036217[74] = 0.0; - out_9174940369185036217[75] = 0.0; - out_9174940369185036217[76] = 1.0; - out_9174940369185036217[77] = 0.0; - out_9174940369185036217[78] = 0.0; - out_9174940369185036217[79] = 0.0; - out_9174940369185036217[80] = 0.0; - out_9174940369185036217[81] = 0.0; - out_9174940369185036217[82] = 0.0; - out_9174940369185036217[83] = 0.0; - out_9174940369185036217[84] = 0.0; - out_9174940369185036217[85] = 0.0; - out_9174940369185036217[86] = 0.0; - out_9174940369185036217[87] = 0.0; - out_9174940369185036217[88] = 0.0; - out_9174940369185036217[89] = 0.0; - out_9174940369185036217[90] = 0.0; - out_9174940369185036217[91] = 0.0; - out_9174940369185036217[92] = 0.0; - out_9174940369185036217[93] = 0.0; - out_9174940369185036217[94] = 0.0; - out_9174940369185036217[95] = 1.0; - out_9174940369185036217[96] = 0.0; - out_9174940369185036217[97] = 0.0; - out_9174940369185036217[98] = 0.0; - out_9174940369185036217[99] = 0.0; - out_9174940369185036217[100] = 0.0; - out_9174940369185036217[101] = 0.0; - out_9174940369185036217[102] = 0.0; - out_9174940369185036217[103] = 0.0; - out_9174940369185036217[104] = 0.0; - out_9174940369185036217[105] = 0.0; - out_9174940369185036217[106] = 0.0; - out_9174940369185036217[107] = 0.0; - out_9174940369185036217[108] = 0.0; - out_9174940369185036217[109] = 0.0; - out_9174940369185036217[110] = 0.0; - out_9174940369185036217[111] = 0.0; - out_9174940369185036217[112] = 0.0; - out_9174940369185036217[113] = 0.0; - out_9174940369185036217[114] = 1.0; - out_9174940369185036217[115] = 0.0; - out_9174940369185036217[116] = 0.0; - out_9174940369185036217[117] = 0.0; - out_9174940369185036217[118] = 0.0; - out_9174940369185036217[119] = 0.0; - out_9174940369185036217[120] = 0.0; - out_9174940369185036217[121] = 0.0; - out_9174940369185036217[122] = 0.0; - out_9174940369185036217[123] = 0.0; - out_9174940369185036217[124] = 0.0; - out_9174940369185036217[125] = 0.0; - out_9174940369185036217[126] = 0.0; - out_9174940369185036217[127] = 0.0; - out_9174940369185036217[128] = 0.0; - out_9174940369185036217[129] = 0.0; - out_9174940369185036217[130] = 0.0; - out_9174940369185036217[131] = 0.0; - out_9174940369185036217[132] = 0.0; - out_9174940369185036217[133] = 1.0; - out_9174940369185036217[134] = 0.0; - out_9174940369185036217[135] = 0.0; - out_9174940369185036217[136] = 0.0; - out_9174940369185036217[137] = 0.0; - out_9174940369185036217[138] = 0.0; - out_9174940369185036217[139] = 0.0; - out_9174940369185036217[140] = 0.0; - out_9174940369185036217[141] = 0.0; - out_9174940369185036217[142] = 0.0; - out_9174940369185036217[143] = 0.0; - out_9174940369185036217[144] = 0.0; - out_9174940369185036217[145] = 0.0; - out_9174940369185036217[146] = 0.0; - out_9174940369185036217[147] = 0.0; - out_9174940369185036217[148] = 0.0; - out_9174940369185036217[149] = 0.0; - out_9174940369185036217[150] = 0.0; - out_9174940369185036217[151] = 0.0; - out_9174940369185036217[152] = 1.0; - out_9174940369185036217[153] = 0.0; - out_9174940369185036217[154] = 0.0; - out_9174940369185036217[155] = 0.0; - out_9174940369185036217[156] = 0.0; - out_9174940369185036217[157] = 0.0; - out_9174940369185036217[158] = 0.0; - out_9174940369185036217[159] = 0.0; - out_9174940369185036217[160] = 0.0; - out_9174940369185036217[161] = 0.0; - out_9174940369185036217[162] = 0.0; - out_9174940369185036217[163] = 0.0; - out_9174940369185036217[164] = 0.0; - out_9174940369185036217[165] = 0.0; - out_9174940369185036217[166] = 0.0; - out_9174940369185036217[167] = 0.0; - out_9174940369185036217[168] = 0.0; - out_9174940369185036217[169] = 0.0; - out_9174940369185036217[170] = 0.0; - out_9174940369185036217[171] = 1.0; - out_9174940369185036217[172] = 0.0; - out_9174940369185036217[173] = 0.0; - out_9174940369185036217[174] = 0.0; - out_9174940369185036217[175] = 0.0; - out_9174940369185036217[176] = 0.0; - out_9174940369185036217[177] = 0.0; - out_9174940369185036217[178] = 0.0; - out_9174940369185036217[179] = 0.0; - out_9174940369185036217[180] = 0.0; - out_9174940369185036217[181] = 0.0; - out_9174940369185036217[182] = 0.0; - out_9174940369185036217[183] = 0.0; - out_9174940369185036217[184] = 0.0; - out_9174940369185036217[185] = 0.0; - out_9174940369185036217[186] = 0.0; - out_9174940369185036217[187] = 0.0; - out_9174940369185036217[188] = 0.0; - out_9174940369185036217[189] = 0.0; - out_9174940369185036217[190] = 1.0; - out_9174940369185036217[191] = 0.0; - out_9174940369185036217[192] = 0.0; - out_9174940369185036217[193] = 0.0; - out_9174940369185036217[194] = 0.0; - out_9174940369185036217[195] = 0.0; - out_9174940369185036217[196] = 0.0; - out_9174940369185036217[197] = 0.0; - out_9174940369185036217[198] = 0.0; - out_9174940369185036217[199] = 0.0; - out_9174940369185036217[200] = 0.0; - out_9174940369185036217[201] = 0.0; - out_9174940369185036217[202] = 0.0; - out_9174940369185036217[203] = 0.0; - out_9174940369185036217[204] = 0.0; - out_9174940369185036217[205] = 0.0; - out_9174940369185036217[206] = 0.0; - out_9174940369185036217[207] = 0.0; - out_9174940369185036217[208] = 0.0; - out_9174940369185036217[209] = 1.0; - out_9174940369185036217[210] = 0.0; - out_9174940369185036217[211] = 0.0; - out_9174940369185036217[212] = 0.0; - out_9174940369185036217[213] = 0.0; - out_9174940369185036217[214] = 0.0; - out_9174940369185036217[215] = 0.0; - out_9174940369185036217[216] = 0.0; - out_9174940369185036217[217] = 0.0; - out_9174940369185036217[218] = 0.0; - out_9174940369185036217[219] = 0.0; - out_9174940369185036217[220] = 0.0; - out_9174940369185036217[221] = 0.0; - out_9174940369185036217[222] = 0.0; - out_9174940369185036217[223] = 0.0; - out_9174940369185036217[224] = 0.0; - out_9174940369185036217[225] = 0.0; - out_9174940369185036217[226] = 0.0; - out_9174940369185036217[227] = 0.0; - out_9174940369185036217[228] = 1.0; - out_9174940369185036217[229] = 0.0; - out_9174940369185036217[230] = 0.0; - out_9174940369185036217[231] = 0.0; - out_9174940369185036217[232] = 0.0; - out_9174940369185036217[233] = 0.0; - out_9174940369185036217[234] = 0.0; - out_9174940369185036217[235] = 0.0; - out_9174940369185036217[236] = 0.0; - out_9174940369185036217[237] = 0.0; - out_9174940369185036217[238] = 0.0; - out_9174940369185036217[239] = 0.0; - out_9174940369185036217[240] = 0.0; - out_9174940369185036217[241] = 0.0; - out_9174940369185036217[242] = 0.0; - out_9174940369185036217[243] = 0.0; - out_9174940369185036217[244] = 0.0; - out_9174940369185036217[245] = 0.0; - out_9174940369185036217[246] = 0.0; - out_9174940369185036217[247] = 1.0; - out_9174940369185036217[248] = 0.0; - out_9174940369185036217[249] = 0.0; - out_9174940369185036217[250] = 0.0; - out_9174940369185036217[251] = 0.0; - out_9174940369185036217[252] = 0.0; - out_9174940369185036217[253] = 0.0; - out_9174940369185036217[254] = 0.0; - out_9174940369185036217[255] = 0.0; - out_9174940369185036217[256] = 0.0; - out_9174940369185036217[257] = 0.0; - out_9174940369185036217[258] = 0.0; - out_9174940369185036217[259] = 0.0; - out_9174940369185036217[260] = 0.0; - out_9174940369185036217[261] = 0.0; - out_9174940369185036217[262] = 0.0; - out_9174940369185036217[263] = 0.0; - out_9174940369185036217[264] = 0.0; - out_9174940369185036217[265] = 0.0; - out_9174940369185036217[266] = 1.0; - out_9174940369185036217[267] = 0.0; - out_9174940369185036217[268] = 0.0; - out_9174940369185036217[269] = 0.0; - out_9174940369185036217[270] = 0.0; - out_9174940369185036217[271] = 0.0; - out_9174940369185036217[272] = 0.0; - out_9174940369185036217[273] = 0.0; - out_9174940369185036217[274] = 0.0; - out_9174940369185036217[275] = 0.0; - out_9174940369185036217[276] = 0.0; - out_9174940369185036217[277] = 0.0; - out_9174940369185036217[278] = 0.0; - out_9174940369185036217[279] = 0.0; - out_9174940369185036217[280] = 0.0; - out_9174940369185036217[281] = 0.0; - out_9174940369185036217[282] = 0.0; - out_9174940369185036217[283] = 0.0; - out_9174940369185036217[284] = 0.0; - out_9174940369185036217[285] = 1.0; - out_9174940369185036217[286] = 0.0; - out_9174940369185036217[287] = 0.0; - out_9174940369185036217[288] = 0.0; - out_9174940369185036217[289] = 0.0; - out_9174940369185036217[290] = 0.0; - out_9174940369185036217[291] = 0.0; - out_9174940369185036217[292] = 0.0; - out_9174940369185036217[293] = 0.0; - out_9174940369185036217[294] = 0.0; - out_9174940369185036217[295] = 0.0; - out_9174940369185036217[296] = 0.0; - out_9174940369185036217[297] = 0.0; - out_9174940369185036217[298] = 0.0; - out_9174940369185036217[299] = 0.0; - out_9174940369185036217[300] = 0.0; - out_9174940369185036217[301] = 0.0; - out_9174940369185036217[302] = 0.0; - out_9174940369185036217[303] = 0.0; - out_9174940369185036217[304] = 1.0; - out_9174940369185036217[305] = 0.0; - out_9174940369185036217[306] = 0.0; - out_9174940369185036217[307] = 0.0; - out_9174940369185036217[308] = 0.0; - out_9174940369185036217[309] = 0.0; - out_9174940369185036217[310] = 0.0; - out_9174940369185036217[311] = 0.0; - out_9174940369185036217[312] = 0.0; - out_9174940369185036217[313] = 0.0; - out_9174940369185036217[314] = 0.0; - out_9174940369185036217[315] = 0.0; - out_9174940369185036217[316] = 0.0; - out_9174940369185036217[317] = 0.0; - out_9174940369185036217[318] = 0.0; - out_9174940369185036217[319] = 0.0; - out_9174940369185036217[320] = 0.0; - out_9174940369185036217[321] = 0.0; - out_9174940369185036217[322] = 0.0; - out_9174940369185036217[323] = 1.0; +void H_mod_fun(double *state, double *out_8200145802550385466) { + out_8200145802550385466[0] = 1.0; + out_8200145802550385466[1] = 0.0; + out_8200145802550385466[2] = 0.0; + out_8200145802550385466[3] = 0.0; + out_8200145802550385466[4] = 0.0; + out_8200145802550385466[5] = 0.0; + out_8200145802550385466[6] = 0.0; + out_8200145802550385466[7] = 0.0; + out_8200145802550385466[8] = 0.0; + out_8200145802550385466[9] = 0.0; + out_8200145802550385466[10] = 0.0; + out_8200145802550385466[11] = 0.0; + out_8200145802550385466[12] = 0.0; + out_8200145802550385466[13] = 0.0; + out_8200145802550385466[14] = 0.0; + out_8200145802550385466[15] = 0.0; + out_8200145802550385466[16] = 0.0; + out_8200145802550385466[17] = 0.0; + out_8200145802550385466[18] = 0.0; + out_8200145802550385466[19] = 1.0; + out_8200145802550385466[20] = 0.0; + out_8200145802550385466[21] = 0.0; + out_8200145802550385466[22] = 0.0; + out_8200145802550385466[23] = 0.0; + out_8200145802550385466[24] = 0.0; + out_8200145802550385466[25] = 0.0; + out_8200145802550385466[26] = 0.0; + out_8200145802550385466[27] = 0.0; + out_8200145802550385466[28] = 0.0; + out_8200145802550385466[29] = 0.0; + out_8200145802550385466[30] = 0.0; + out_8200145802550385466[31] = 0.0; + out_8200145802550385466[32] = 0.0; + out_8200145802550385466[33] = 0.0; + out_8200145802550385466[34] = 0.0; + out_8200145802550385466[35] = 0.0; + out_8200145802550385466[36] = 0.0; + out_8200145802550385466[37] = 0.0; + out_8200145802550385466[38] = 1.0; + out_8200145802550385466[39] = 0.0; + out_8200145802550385466[40] = 0.0; + out_8200145802550385466[41] = 0.0; + out_8200145802550385466[42] = 0.0; + out_8200145802550385466[43] = 0.0; + out_8200145802550385466[44] = 0.0; + out_8200145802550385466[45] = 0.0; + out_8200145802550385466[46] = 0.0; + out_8200145802550385466[47] = 0.0; + out_8200145802550385466[48] = 0.0; + out_8200145802550385466[49] = 0.0; + out_8200145802550385466[50] = 0.0; + out_8200145802550385466[51] = 0.0; + out_8200145802550385466[52] = 0.0; + out_8200145802550385466[53] = 0.0; + out_8200145802550385466[54] = 0.0; + out_8200145802550385466[55] = 0.0; + out_8200145802550385466[56] = 0.0; + out_8200145802550385466[57] = 1.0; + out_8200145802550385466[58] = 0.0; + out_8200145802550385466[59] = 0.0; + out_8200145802550385466[60] = 0.0; + out_8200145802550385466[61] = 0.0; + out_8200145802550385466[62] = 0.0; + out_8200145802550385466[63] = 0.0; + out_8200145802550385466[64] = 0.0; + out_8200145802550385466[65] = 0.0; + out_8200145802550385466[66] = 0.0; + out_8200145802550385466[67] = 0.0; + out_8200145802550385466[68] = 0.0; + out_8200145802550385466[69] = 0.0; + out_8200145802550385466[70] = 0.0; + out_8200145802550385466[71] = 0.0; + out_8200145802550385466[72] = 0.0; + out_8200145802550385466[73] = 0.0; + out_8200145802550385466[74] = 0.0; + out_8200145802550385466[75] = 0.0; + out_8200145802550385466[76] = 1.0; + out_8200145802550385466[77] = 0.0; + out_8200145802550385466[78] = 0.0; + out_8200145802550385466[79] = 0.0; + out_8200145802550385466[80] = 0.0; + out_8200145802550385466[81] = 0.0; + out_8200145802550385466[82] = 0.0; + out_8200145802550385466[83] = 0.0; + out_8200145802550385466[84] = 0.0; + out_8200145802550385466[85] = 0.0; + out_8200145802550385466[86] = 0.0; + out_8200145802550385466[87] = 0.0; + out_8200145802550385466[88] = 0.0; + out_8200145802550385466[89] = 0.0; + out_8200145802550385466[90] = 0.0; + out_8200145802550385466[91] = 0.0; + out_8200145802550385466[92] = 0.0; + out_8200145802550385466[93] = 0.0; + out_8200145802550385466[94] = 0.0; + out_8200145802550385466[95] = 1.0; + out_8200145802550385466[96] = 0.0; + out_8200145802550385466[97] = 0.0; + out_8200145802550385466[98] = 0.0; + out_8200145802550385466[99] = 0.0; + out_8200145802550385466[100] = 0.0; + out_8200145802550385466[101] = 0.0; + out_8200145802550385466[102] = 0.0; + out_8200145802550385466[103] = 0.0; + out_8200145802550385466[104] = 0.0; + out_8200145802550385466[105] = 0.0; + out_8200145802550385466[106] = 0.0; + out_8200145802550385466[107] = 0.0; + out_8200145802550385466[108] = 0.0; + out_8200145802550385466[109] = 0.0; + out_8200145802550385466[110] = 0.0; + out_8200145802550385466[111] = 0.0; + out_8200145802550385466[112] = 0.0; + out_8200145802550385466[113] = 0.0; + out_8200145802550385466[114] = 1.0; + out_8200145802550385466[115] = 0.0; + out_8200145802550385466[116] = 0.0; + out_8200145802550385466[117] = 0.0; + out_8200145802550385466[118] = 0.0; + out_8200145802550385466[119] = 0.0; + out_8200145802550385466[120] = 0.0; + out_8200145802550385466[121] = 0.0; + out_8200145802550385466[122] = 0.0; + out_8200145802550385466[123] = 0.0; + out_8200145802550385466[124] = 0.0; + out_8200145802550385466[125] = 0.0; + out_8200145802550385466[126] = 0.0; + out_8200145802550385466[127] = 0.0; + out_8200145802550385466[128] = 0.0; + out_8200145802550385466[129] = 0.0; + out_8200145802550385466[130] = 0.0; + out_8200145802550385466[131] = 0.0; + out_8200145802550385466[132] = 0.0; + out_8200145802550385466[133] = 1.0; + out_8200145802550385466[134] = 0.0; + out_8200145802550385466[135] = 0.0; + out_8200145802550385466[136] = 0.0; + out_8200145802550385466[137] = 0.0; + out_8200145802550385466[138] = 0.0; + out_8200145802550385466[139] = 0.0; + out_8200145802550385466[140] = 0.0; + out_8200145802550385466[141] = 0.0; + out_8200145802550385466[142] = 0.0; + out_8200145802550385466[143] = 0.0; + out_8200145802550385466[144] = 0.0; + out_8200145802550385466[145] = 0.0; + out_8200145802550385466[146] = 0.0; + out_8200145802550385466[147] = 0.0; + out_8200145802550385466[148] = 0.0; + out_8200145802550385466[149] = 0.0; + out_8200145802550385466[150] = 0.0; + out_8200145802550385466[151] = 0.0; + out_8200145802550385466[152] = 1.0; + out_8200145802550385466[153] = 0.0; + out_8200145802550385466[154] = 0.0; + out_8200145802550385466[155] = 0.0; + out_8200145802550385466[156] = 0.0; + out_8200145802550385466[157] = 0.0; + out_8200145802550385466[158] = 0.0; + out_8200145802550385466[159] = 0.0; + out_8200145802550385466[160] = 0.0; + out_8200145802550385466[161] = 0.0; + out_8200145802550385466[162] = 0.0; + out_8200145802550385466[163] = 0.0; + out_8200145802550385466[164] = 0.0; + out_8200145802550385466[165] = 0.0; + out_8200145802550385466[166] = 0.0; + out_8200145802550385466[167] = 0.0; + out_8200145802550385466[168] = 0.0; + out_8200145802550385466[169] = 0.0; + out_8200145802550385466[170] = 0.0; + out_8200145802550385466[171] = 1.0; + out_8200145802550385466[172] = 0.0; + out_8200145802550385466[173] = 0.0; + out_8200145802550385466[174] = 0.0; + out_8200145802550385466[175] = 0.0; + out_8200145802550385466[176] = 0.0; + out_8200145802550385466[177] = 0.0; + out_8200145802550385466[178] = 0.0; + out_8200145802550385466[179] = 0.0; + out_8200145802550385466[180] = 0.0; + out_8200145802550385466[181] = 0.0; + out_8200145802550385466[182] = 0.0; + out_8200145802550385466[183] = 0.0; + out_8200145802550385466[184] = 0.0; + out_8200145802550385466[185] = 0.0; + out_8200145802550385466[186] = 0.0; + out_8200145802550385466[187] = 0.0; + out_8200145802550385466[188] = 0.0; + out_8200145802550385466[189] = 0.0; + out_8200145802550385466[190] = 1.0; + out_8200145802550385466[191] = 0.0; + out_8200145802550385466[192] = 0.0; + out_8200145802550385466[193] = 0.0; + out_8200145802550385466[194] = 0.0; + out_8200145802550385466[195] = 0.0; + out_8200145802550385466[196] = 0.0; + out_8200145802550385466[197] = 0.0; + out_8200145802550385466[198] = 0.0; + out_8200145802550385466[199] = 0.0; + out_8200145802550385466[200] = 0.0; + out_8200145802550385466[201] = 0.0; + out_8200145802550385466[202] = 0.0; + out_8200145802550385466[203] = 0.0; + out_8200145802550385466[204] = 0.0; + out_8200145802550385466[205] = 0.0; + out_8200145802550385466[206] = 0.0; + out_8200145802550385466[207] = 0.0; + out_8200145802550385466[208] = 0.0; + out_8200145802550385466[209] = 1.0; + out_8200145802550385466[210] = 0.0; + out_8200145802550385466[211] = 0.0; + out_8200145802550385466[212] = 0.0; + out_8200145802550385466[213] = 0.0; + out_8200145802550385466[214] = 0.0; + out_8200145802550385466[215] = 0.0; + out_8200145802550385466[216] = 0.0; + out_8200145802550385466[217] = 0.0; + out_8200145802550385466[218] = 0.0; + out_8200145802550385466[219] = 0.0; + out_8200145802550385466[220] = 0.0; + out_8200145802550385466[221] = 0.0; + out_8200145802550385466[222] = 0.0; + out_8200145802550385466[223] = 0.0; + out_8200145802550385466[224] = 0.0; + out_8200145802550385466[225] = 0.0; + out_8200145802550385466[226] = 0.0; + out_8200145802550385466[227] = 0.0; + out_8200145802550385466[228] = 1.0; + out_8200145802550385466[229] = 0.0; + out_8200145802550385466[230] = 0.0; + out_8200145802550385466[231] = 0.0; + out_8200145802550385466[232] = 0.0; + out_8200145802550385466[233] = 0.0; + out_8200145802550385466[234] = 0.0; + out_8200145802550385466[235] = 0.0; + out_8200145802550385466[236] = 0.0; + out_8200145802550385466[237] = 0.0; + out_8200145802550385466[238] = 0.0; + out_8200145802550385466[239] = 0.0; + out_8200145802550385466[240] = 0.0; + out_8200145802550385466[241] = 0.0; + out_8200145802550385466[242] = 0.0; + out_8200145802550385466[243] = 0.0; + out_8200145802550385466[244] = 0.0; + out_8200145802550385466[245] = 0.0; + out_8200145802550385466[246] = 0.0; + out_8200145802550385466[247] = 1.0; + out_8200145802550385466[248] = 0.0; + out_8200145802550385466[249] = 0.0; + out_8200145802550385466[250] = 0.0; + out_8200145802550385466[251] = 0.0; + out_8200145802550385466[252] = 0.0; + out_8200145802550385466[253] = 0.0; + out_8200145802550385466[254] = 0.0; + out_8200145802550385466[255] = 0.0; + out_8200145802550385466[256] = 0.0; + out_8200145802550385466[257] = 0.0; + out_8200145802550385466[258] = 0.0; + out_8200145802550385466[259] = 0.0; + out_8200145802550385466[260] = 0.0; + out_8200145802550385466[261] = 0.0; + out_8200145802550385466[262] = 0.0; + out_8200145802550385466[263] = 0.0; + out_8200145802550385466[264] = 0.0; + out_8200145802550385466[265] = 0.0; + out_8200145802550385466[266] = 1.0; + out_8200145802550385466[267] = 0.0; + out_8200145802550385466[268] = 0.0; + out_8200145802550385466[269] = 0.0; + out_8200145802550385466[270] = 0.0; + out_8200145802550385466[271] = 0.0; + out_8200145802550385466[272] = 0.0; + out_8200145802550385466[273] = 0.0; + out_8200145802550385466[274] = 0.0; + out_8200145802550385466[275] = 0.0; + out_8200145802550385466[276] = 0.0; + out_8200145802550385466[277] = 0.0; + out_8200145802550385466[278] = 0.0; + out_8200145802550385466[279] = 0.0; + out_8200145802550385466[280] = 0.0; + out_8200145802550385466[281] = 0.0; + out_8200145802550385466[282] = 0.0; + out_8200145802550385466[283] = 0.0; + out_8200145802550385466[284] = 0.0; + out_8200145802550385466[285] = 1.0; + out_8200145802550385466[286] = 0.0; + out_8200145802550385466[287] = 0.0; + out_8200145802550385466[288] = 0.0; + out_8200145802550385466[289] = 0.0; + out_8200145802550385466[290] = 0.0; + out_8200145802550385466[291] = 0.0; + out_8200145802550385466[292] = 0.0; + out_8200145802550385466[293] = 0.0; + out_8200145802550385466[294] = 0.0; + out_8200145802550385466[295] = 0.0; + out_8200145802550385466[296] = 0.0; + out_8200145802550385466[297] = 0.0; + out_8200145802550385466[298] = 0.0; + out_8200145802550385466[299] = 0.0; + out_8200145802550385466[300] = 0.0; + out_8200145802550385466[301] = 0.0; + out_8200145802550385466[302] = 0.0; + out_8200145802550385466[303] = 0.0; + out_8200145802550385466[304] = 1.0; + out_8200145802550385466[305] = 0.0; + out_8200145802550385466[306] = 0.0; + out_8200145802550385466[307] = 0.0; + out_8200145802550385466[308] = 0.0; + out_8200145802550385466[309] = 0.0; + out_8200145802550385466[310] = 0.0; + out_8200145802550385466[311] = 0.0; + out_8200145802550385466[312] = 0.0; + out_8200145802550385466[313] = 0.0; + out_8200145802550385466[314] = 0.0; + out_8200145802550385466[315] = 0.0; + out_8200145802550385466[316] = 0.0; + out_8200145802550385466[317] = 0.0; + out_8200145802550385466[318] = 0.0; + out_8200145802550385466[319] = 0.0; + out_8200145802550385466[320] = 0.0; + out_8200145802550385466[321] = 0.0; + out_8200145802550385466[322] = 0.0; + out_8200145802550385466[323] = 1.0; } -void f_fun(double *state, double dt, double *out_4673717053718014348) { - out_4673717053718014348[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_4673717053718014348[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_4673717053718014348[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_4673717053718014348[3] = dt*state[12] + state[3]; - out_4673717053718014348[4] = dt*state[13] + state[4]; - out_4673717053718014348[5] = dt*state[14] + state[5]; - out_4673717053718014348[6] = state[6]; - out_4673717053718014348[7] = state[7]; - out_4673717053718014348[8] = state[8]; - out_4673717053718014348[9] = state[9]; - out_4673717053718014348[10] = state[10]; - out_4673717053718014348[11] = state[11]; - out_4673717053718014348[12] = state[12]; - out_4673717053718014348[13] = state[13]; - out_4673717053718014348[14] = state[14]; - out_4673717053718014348[15] = state[15]; - out_4673717053718014348[16] = state[16]; - out_4673717053718014348[17] = state[17]; +void f_fun(double *state, double dt, double *out_3154493756264028272) { + out_3154493756264028272[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_3154493756264028272[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_3154493756264028272[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_3154493756264028272[3] = dt*state[12] + state[3]; + out_3154493756264028272[4] = dt*state[13] + state[4]; + out_3154493756264028272[5] = dt*state[14] + state[5]; + out_3154493756264028272[6] = state[6]; + out_3154493756264028272[7] = state[7]; + out_3154493756264028272[8] = state[8]; + out_3154493756264028272[9] = state[9]; + out_3154493756264028272[10] = state[10]; + out_3154493756264028272[11] = state[11]; + out_3154493756264028272[12] = state[12]; + out_3154493756264028272[13] = state[13]; + out_3154493756264028272[14] = state[14]; + out_3154493756264028272[15] = state[15]; + out_3154493756264028272[16] = state[16]; + out_3154493756264028272[17] = state[17]; } -void F_fun(double *state, double dt, double *out_7626949901910213403) { - out_7626949901910213403[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_7626949901910213403[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_7626949901910213403[2] = 0; - out_7626949901910213403[3] = 0; - out_7626949901910213403[4] = 0; - out_7626949901910213403[5] = 0; - out_7626949901910213403[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_7626949901910213403[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_7626949901910213403[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_7626949901910213403[9] = 0; - out_7626949901910213403[10] = 0; - out_7626949901910213403[11] = 0; - out_7626949901910213403[12] = 0; - out_7626949901910213403[13] = 0; - out_7626949901910213403[14] = 0; - out_7626949901910213403[15] = 0; - out_7626949901910213403[16] = 0; - out_7626949901910213403[17] = 0; - out_7626949901910213403[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_7626949901910213403[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_7626949901910213403[20] = 0; - out_7626949901910213403[21] = 0; - out_7626949901910213403[22] = 0; - out_7626949901910213403[23] = 0; - out_7626949901910213403[24] = 0; - out_7626949901910213403[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_7626949901910213403[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_7626949901910213403[27] = 0; - out_7626949901910213403[28] = 0; - out_7626949901910213403[29] = 0; - out_7626949901910213403[30] = 0; - out_7626949901910213403[31] = 0; - out_7626949901910213403[32] = 0; - out_7626949901910213403[33] = 0; - out_7626949901910213403[34] = 0; - out_7626949901910213403[35] = 0; - out_7626949901910213403[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_7626949901910213403[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_7626949901910213403[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_7626949901910213403[39] = 0; - out_7626949901910213403[40] = 0; - out_7626949901910213403[41] = 0; - out_7626949901910213403[42] = 0; - out_7626949901910213403[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_7626949901910213403[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_7626949901910213403[45] = 0; - out_7626949901910213403[46] = 0; - out_7626949901910213403[47] = 0; - out_7626949901910213403[48] = 0; - out_7626949901910213403[49] = 0; - out_7626949901910213403[50] = 0; - out_7626949901910213403[51] = 0; - out_7626949901910213403[52] = 0; - out_7626949901910213403[53] = 0; - out_7626949901910213403[54] = 0; - out_7626949901910213403[55] = 0; - out_7626949901910213403[56] = 0; - out_7626949901910213403[57] = 1; - out_7626949901910213403[58] = 0; - out_7626949901910213403[59] = 0; - out_7626949901910213403[60] = 0; - out_7626949901910213403[61] = 0; - out_7626949901910213403[62] = 0; - out_7626949901910213403[63] = 0; - out_7626949901910213403[64] = 0; - out_7626949901910213403[65] = 0; - out_7626949901910213403[66] = dt; - out_7626949901910213403[67] = 0; - out_7626949901910213403[68] = 0; - out_7626949901910213403[69] = 0; - out_7626949901910213403[70] = 0; - out_7626949901910213403[71] = 0; - out_7626949901910213403[72] = 0; - out_7626949901910213403[73] = 0; - out_7626949901910213403[74] = 0; - out_7626949901910213403[75] = 0; - out_7626949901910213403[76] = 1; - out_7626949901910213403[77] = 0; - out_7626949901910213403[78] = 0; - out_7626949901910213403[79] = 0; - out_7626949901910213403[80] = 0; - out_7626949901910213403[81] = 0; - out_7626949901910213403[82] = 0; - out_7626949901910213403[83] = 0; - out_7626949901910213403[84] = 0; - out_7626949901910213403[85] = dt; - out_7626949901910213403[86] = 0; - out_7626949901910213403[87] = 0; - out_7626949901910213403[88] = 0; - out_7626949901910213403[89] = 0; - out_7626949901910213403[90] = 0; - out_7626949901910213403[91] = 0; - out_7626949901910213403[92] = 0; - out_7626949901910213403[93] = 0; - out_7626949901910213403[94] = 0; - out_7626949901910213403[95] = 1; - out_7626949901910213403[96] = 0; - out_7626949901910213403[97] = 0; - out_7626949901910213403[98] = 0; - out_7626949901910213403[99] = 0; - out_7626949901910213403[100] = 0; - out_7626949901910213403[101] = 0; - out_7626949901910213403[102] = 0; - out_7626949901910213403[103] = 0; - out_7626949901910213403[104] = dt; - out_7626949901910213403[105] = 0; - out_7626949901910213403[106] = 0; - out_7626949901910213403[107] = 0; - out_7626949901910213403[108] = 0; - out_7626949901910213403[109] = 0; - out_7626949901910213403[110] = 0; - out_7626949901910213403[111] = 0; - out_7626949901910213403[112] = 0; - out_7626949901910213403[113] = 0; - out_7626949901910213403[114] = 1; - out_7626949901910213403[115] = 0; - out_7626949901910213403[116] = 0; - out_7626949901910213403[117] = 0; - out_7626949901910213403[118] = 0; - out_7626949901910213403[119] = 0; - out_7626949901910213403[120] = 0; - out_7626949901910213403[121] = 0; - out_7626949901910213403[122] = 0; - out_7626949901910213403[123] = 0; - out_7626949901910213403[124] = 0; - out_7626949901910213403[125] = 0; - out_7626949901910213403[126] = 0; - out_7626949901910213403[127] = 0; - out_7626949901910213403[128] = 0; - out_7626949901910213403[129] = 0; - out_7626949901910213403[130] = 0; - out_7626949901910213403[131] = 0; - out_7626949901910213403[132] = 0; - out_7626949901910213403[133] = 1; - out_7626949901910213403[134] = 0; - out_7626949901910213403[135] = 0; - out_7626949901910213403[136] = 0; - out_7626949901910213403[137] = 0; - out_7626949901910213403[138] = 0; - out_7626949901910213403[139] = 0; - out_7626949901910213403[140] = 0; - out_7626949901910213403[141] = 0; - out_7626949901910213403[142] = 0; - out_7626949901910213403[143] = 0; - out_7626949901910213403[144] = 0; - out_7626949901910213403[145] = 0; - out_7626949901910213403[146] = 0; - out_7626949901910213403[147] = 0; - out_7626949901910213403[148] = 0; - out_7626949901910213403[149] = 0; - out_7626949901910213403[150] = 0; - out_7626949901910213403[151] = 0; - out_7626949901910213403[152] = 1; - out_7626949901910213403[153] = 0; - out_7626949901910213403[154] = 0; - out_7626949901910213403[155] = 0; - out_7626949901910213403[156] = 0; - out_7626949901910213403[157] = 0; - out_7626949901910213403[158] = 0; - out_7626949901910213403[159] = 0; - out_7626949901910213403[160] = 0; - out_7626949901910213403[161] = 0; - out_7626949901910213403[162] = 0; - out_7626949901910213403[163] = 0; - out_7626949901910213403[164] = 0; - out_7626949901910213403[165] = 0; - out_7626949901910213403[166] = 0; - out_7626949901910213403[167] = 0; - out_7626949901910213403[168] = 0; - out_7626949901910213403[169] = 0; - out_7626949901910213403[170] = 0; - out_7626949901910213403[171] = 1; - out_7626949901910213403[172] = 0; - out_7626949901910213403[173] = 0; - out_7626949901910213403[174] = 0; - out_7626949901910213403[175] = 0; - out_7626949901910213403[176] = 0; - out_7626949901910213403[177] = 0; - out_7626949901910213403[178] = 0; - out_7626949901910213403[179] = 0; - out_7626949901910213403[180] = 0; - out_7626949901910213403[181] = 0; - out_7626949901910213403[182] = 0; - out_7626949901910213403[183] = 0; - out_7626949901910213403[184] = 0; - out_7626949901910213403[185] = 0; - out_7626949901910213403[186] = 0; - out_7626949901910213403[187] = 0; - out_7626949901910213403[188] = 0; - out_7626949901910213403[189] = 0; - out_7626949901910213403[190] = 1; - out_7626949901910213403[191] = 0; - out_7626949901910213403[192] = 0; - out_7626949901910213403[193] = 0; - out_7626949901910213403[194] = 0; - out_7626949901910213403[195] = 0; - out_7626949901910213403[196] = 0; - out_7626949901910213403[197] = 0; - out_7626949901910213403[198] = 0; - out_7626949901910213403[199] = 0; - out_7626949901910213403[200] = 0; - out_7626949901910213403[201] = 0; - out_7626949901910213403[202] = 0; - out_7626949901910213403[203] = 0; - out_7626949901910213403[204] = 0; - out_7626949901910213403[205] = 0; - out_7626949901910213403[206] = 0; - out_7626949901910213403[207] = 0; - out_7626949901910213403[208] = 0; - out_7626949901910213403[209] = 1; - out_7626949901910213403[210] = 0; - out_7626949901910213403[211] = 0; - out_7626949901910213403[212] = 0; - out_7626949901910213403[213] = 0; - out_7626949901910213403[214] = 0; - out_7626949901910213403[215] = 0; - out_7626949901910213403[216] = 0; - out_7626949901910213403[217] = 0; - out_7626949901910213403[218] = 0; - out_7626949901910213403[219] = 0; - out_7626949901910213403[220] = 0; - out_7626949901910213403[221] = 0; - out_7626949901910213403[222] = 0; - out_7626949901910213403[223] = 0; - out_7626949901910213403[224] = 0; - out_7626949901910213403[225] = 0; - out_7626949901910213403[226] = 0; - out_7626949901910213403[227] = 0; - out_7626949901910213403[228] = 1; - out_7626949901910213403[229] = 0; - out_7626949901910213403[230] = 0; - out_7626949901910213403[231] = 0; - out_7626949901910213403[232] = 0; - out_7626949901910213403[233] = 0; - out_7626949901910213403[234] = 0; - out_7626949901910213403[235] = 0; - out_7626949901910213403[236] = 0; - out_7626949901910213403[237] = 0; - out_7626949901910213403[238] = 0; - out_7626949901910213403[239] = 0; - out_7626949901910213403[240] = 0; - out_7626949901910213403[241] = 0; - out_7626949901910213403[242] = 0; - out_7626949901910213403[243] = 0; - out_7626949901910213403[244] = 0; - out_7626949901910213403[245] = 0; - out_7626949901910213403[246] = 0; - out_7626949901910213403[247] = 1; - out_7626949901910213403[248] = 0; - out_7626949901910213403[249] = 0; - out_7626949901910213403[250] = 0; - out_7626949901910213403[251] = 0; - out_7626949901910213403[252] = 0; - out_7626949901910213403[253] = 0; - out_7626949901910213403[254] = 0; - out_7626949901910213403[255] = 0; - out_7626949901910213403[256] = 0; - out_7626949901910213403[257] = 0; - out_7626949901910213403[258] = 0; - out_7626949901910213403[259] = 0; - out_7626949901910213403[260] = 0; - out_7626949901910213403[261] = 0; - out_7626949901910213403[262] = 0; - out_7626949901910213403[263] = 0; - out_7626949901910213403[264] = 0; - out_7626949901910213403[265] = 0; - out_7626949901910213403[266] = 1; - out_7626949901910213403[267] = 0; - out_7626949901910213403[268] = 0; - out_7626949901910213403[269] = 0; - out_7626949901910213403[270] = 0; - out_7626949901910213403[271] = 0; - out_7626949901910213403[272] = 0; - out_7626949901910213403[273] = 0; - out_7626949901910213403[274] = 0; - out_7626949901910213403[275] = 0; - out_7626949901910213403[276] = 0; - out_7626949901910213403[277] = 0; - out_7626949901910213403[278] = 0; - out_7626949901910213403[279] = 0; - out_7626949901910213403[280] = 0; - out_7626949901910213403[281] = 0; - out_7626949901910213403[282] = 0; - out_7626949901910213403[283] = 0; - out_7626949901910213403[284] = 0; - out_7626949901910213403[285] = 1; - out_7626949901910213403[286] = 0; - out_7626949901910213403[287] = 0; - out_7626949901910213403[288] = 0; - out_7626949901910213403[289] = 0; - out_7626949901910213403[290] = 0; - out_7626949901910213403[291] = 0; - out_7626949901910213403[292] = 0; - out_7626949901910213403[293] = 0; - out_7626949901910213403[294] = 0; - out_7626949901910213403[295] = 0; - out_7626949901910213403[296] = 0; - out_7626949901910213403[297] = 0; - out_7626949901910213403[298] = 0; - out_7626949901910213403[299] = 0; - out_7626949901910213403[300] = 0; - out_7626949901910213403[301] = 0; - out_7626949901910213403[302] = 0; - out_7626949901910213403[303] = 0; - out_7626949901910213403[304] = 1; - out_7626949901910213403[305] = 0; - out_7626949901910213403[306] = 0; - out_7626949901910213403[307] = 0; - out_7626949901910213403[308] = 0; - out_7626949901910213403[309] = 0; - out_7626949901910213403[310] = 0; - out_7626949901910213403[311] = 0; - out_7626949901910213403[312] = 0; - out_7626949901910213403[313] = 0; - out_7626949901910213403[314] = 0; - out_7626949901910213403[315] = 0; - out_7626949901910213403[316] = 0; - out_7626949901910213403[317] = 0; - out_7626949901910213403[318] = 0; - out_7626949901910213403[319] = 0; - out_7626949901910213403[320] = 0; - out_7626949901910213403[321] = 0; - out_7626949901910213403[322] = 0; - out_7626949901910213403[323] = 1; +void F_fun(double *state, double dt, double *out_3844222318897373612) { + out_3844222318897373612[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_3844222318897373612[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_3844222318897373612[2] = 0; + out_3844222318897373612[3] = 0; + out_3844222318897373612[4] = 0; + out_3844222318897373612[5] = 0; + out_3844222318897373612[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_3844222318897373612[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_3844222318897373612[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_3844222318897373612[9] = 0; + out_3844222318897373612[10] = 0; + out_3844222318897373612[11] = 0; + out_3844222318897373612[12] = 0; + out_3844222318897373612[13] = 0; + out_3844222318897373612[14] = 0; + out_3844222318897373612[15] = 0; + out_3844222318897373612[16] = 0; + out_3844222318897373612[17] = 0; + out_3844222318897373612[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_3844222318897373612[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_3844222318897373612[20] = 0; + out_3844222318897373612[21] = 0; + out_3844222318897373612[22] = 0; + out_3844222318897373612[23] = 0; + out_3844222318897373612[24] = 0; + out_3844222318897373612[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_3844222318897373612[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_3844222318897373612[27] = 0; + out_3844222318897373612[28] = 0; + out_3844222318897373612[29] = 0; + out_3844222318897373612[30] = 0; + out_3844222318897373612[31] = 0; + out_3844222318897373612[32] = 0; + out_3844222318897373612[33] = 0; + out_3844222318897373612[34] = 0; + out_3844222318897373612[35] = 0; + out_3844222318897373612[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_3844222318897373612[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_3844222318897373612[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_3844222318897373612[39] = 0; + out_3844222318897373612[40] = 0; + out_3844222318897373612[41] = 0; + out_3844222318897373612[42] = 0; + out_3844222318897373612[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_3844222318897373612[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_3844222318897373612[45] = 0; + out_3844222318897373612[46] = 0; + out_3844222318897373612[47] = 0; + out_3844222318897373612[48] = 0; + out_3844222318897373612[49] = 0; + out_3844222318897373612[50] = 0; + out_3844222318897373612[51] = 0; + out_3844222318897373612[52] = 0; + out_3844222318897373612[53] = 0; + out_3844222318897373612[54] = 0; + out_3844222318897373612[55] = 0; + out_3844222318897373612[56] = 0; + out_3844222318897373612[57] = 1; + out_3844222318897373612[58] = 0; + out_3844222318897373612[59] = 0; + out_3844222318897373612[60] = 0; + out_3844222318897373612[61] = 0; + out_3844222318897373612[62] = 0; + out_3844222318897373612[63] = 0; + out_3844222318897373612[64] = 0; + out_3844222318897373612[65] = 0; + out_3844222318897373612[66] = dt; + out_3844222318897373612[67] = 0; + out_3844222318897373612[68] = 0; + out_3844222318897373612[69] = 0; + out_3844222318897373612[70] = 0; + out_3844222318897373612[71] = 0; + out_3844222318897373612[72] = 0; + out_3844222318897373612[73] = 0; + out_3844222318897373612[74] = 0; + out_3844222318897373612[75] = 0; + out_3844222318897373612[76] = 1; + out_3844222318897373612[77] = 0; + out_3844222318897373612[78] = 0; + out_3844222318897373612[79] = 0; + out_3844222318897373612[80] = 0; + out_3844222318897373612[81] = 0; + out_3844222318897373612[82] = 0; + out_3844222318897373612[83] = 0; + out_3844222318897373612[84] = 0; + out_3844222318897373612[85] = dt; + out_3844222318897373612[86] = 0; + out_3844222318897373612[87] = 0; + out_3844222318897373612[88] = 0; + out_3844222318897373612[89] = 0; + out_3844222318897373612[90] = 0; + out_3844222318897373612[91] = 0; + out_3844222318897373612[92] = 0; + out_3844222318897373612[93] = 0; + out_3844222318897373612[94] = 0; + out_3844222318897373612[95] = 1; + out_3844222318897373612[96] = 0; + out_3844222318897373612[97] = 0; + out_3844222318897373612[98] = 0; + out_3844222318897373612[99] = 0; + out_3844222318897373612[100] = 0; + out_3844222318897373612[101] = 0; + out_3844222318897373612[102] = 0; + out_3844222318897373612[103] = 0; + out_3844222318897373612[104] = dt; + out_3844222318897373612[105] = 0; + out_3844222318897373612[106] = 0; + out_3844222318897373612[107] = 0; + out_3844222318897373612[108] = 0; + out_3844222318897373612[109] = 0; + out_3844222318897373612[110] = 0; + out_3844222318897373612[111] = 0; + out_3844222318897373612[112] = 0; + out_3844222318897373612[113] = 0; + out_3844222318897373612[114] = 1; + out_3844222318897373612[115] = 0; + out_3844222318897373612[116] = 0; + out_3844222318897373612[117] = 0; + out_3844222318897373612[118] = 0; + out_3844222318897373612[119] = 0; + out_3844222318897373612[120] = 0; + out_3844222318897373612[121] = 0; + out_3844222318897373612[122] = 0; + out_3844222318897373612[123] = 0; + out_3844222318897373612[124] = 0; + out_3844222318897373612[125] = 0; + out_3844222318897373612[126] = 0; + out_3844222318897373612[127] = 0; + out_3844222318897373612[128] = 0; + out_3844222318897373612[129] = 0; + out_3844222318897373612[130] = 0; + out_3844222318897373612[131] = 0; + out_3844222318897373612[132] = 0; + out_3844222318897373612[133] = 1; + out_3844222318897373612[134] = 0; + out_3844222318897373612[135] = 0; + out_3844222318897373612[136] = 0; + out_3844222318897373612[137] = 0; + out_3844222318897373612[138] = 0; + out_3844222318897373612[139] = 0; + out_3844222318897373612[140] = 0; + out_3844222318897373612[141] = 0; + out_3844222318897373612[142] = 0; + out_3844222318897373612[143] = 0; + out_3844222318897373612[144] = 0; + out_3844222318897373612[145] = 0; + out_3844222318897373612[146] = 0; + out_3844222318897373612[147] = 0; + out_3844222318897373612[148] = 0; + out_3844222318897373612[149] = 0; + out_3844222318897373612[150] = 0; + out_3844222318897373612[151] = 0; + out_3844222318897373612[152] = 1; + out_3844222318897373612[153] = 0; + out_3844222318897373612[154] = 0; + out_3844222318897373612[155] = 0; + out_3844222318897373612[156] = 0; + out_3844222318897373612[157] = 0; + out_3844222318897373612[158] = 0; + out_3844222318897373612[159] = 0; + out_3844222318897373612[160] = 0; + out_3844222318897373612[161] = 0; + out_3844222318897373612[162] = 0; + out_3844222318897373612[163] = 0; + out_3844222318897373612[164] = 0; + out_3844222318897373612[165] = 0; + out_3844222318897373612[166] = 0; + out_3844222318897373612[167] = 0; + out_3844222318897373612[168] = 0; + out_3844222318897373612[169] = 0; + out_3844222318897373612[170] = 0; + out_3844222318897373612[171] = 1; + out_3844222318897373612[172] = 0; + out_3844222318897373612[173] = 0; + out_3844222318897373612[174] = 0; + out_3844222318897373612[175] = 0; + out_3844222318897373612[176] = 0; + out_3844222318897373612[177] = 0; + out_3844222318897373612[178] = 0; + out_3844222318897373612[179] = 0; + out_3844222318897373612[180] = 0; + out_3844222318897373612[181] = 0; + out_3844222318897373612[182] = 0; + out_3844222318897373612[183] = 0; + out_3844222318897373612[184] = 0; + out_3844222318897373612[185] = 0; + out_3844222318897373612[186] = 0; + out_3844222318897373612[187] = 0; + out_3844222318897373612[188] = 0; + out_3844222318897373612[189] = 0; + out_3844222318897373612[190] = 1; + out_3844222318897373612[191] = 0; + out_3844222318897373612[192] = 0; + out_3844222318897373612[193] = 0; + out_3844222318897373612[194] = 0; + out_3844222318897373612[195] = 0; + out_3844222318897373612[196] = 0; + out_3844222318897373612[197] = 0; + out_3844222318897373612[198] = 0; + out_3844222318897373612[199] = 0; + out_3844222318897373612[200] = 0; + out_3844222318897373612[201] = 0; + out_3844222318897373612[202] = 0; + out_3844222318897373612[203] = 0; + out_3844222318897373612[204] = 0; + out_3844222318897373612[205] = 0; + out_3844222318897373612[206] = 0; + out_3844222318897373612[207] = 0; + out_3844222318897373612[208] = 0; + out_3844222318897373612[209] = 1; + out_3844222318897373612[210] = 0; + out_3844222318897373612[211] = 0; + out_3844222318897373612[212] = 0; + out_3844222318897373612[213] = 0; + out_3844222318897373612[214] = 0; + out_3844222318897373612[215] = 0; + out_3844222318897373612[216] = 0; + out_3844222318897373612[217] = 0; + out_3844222318897373612[218] = 0; + out_3844222318897373612[219] = 0; + out_3844222318897373612[220] = 0; + out_3844222318897373612[221] = 0; + out_3844222318897373612[222] = 0; + out_3844222318897373612[223] = 0; + out_3844222318897373612[224] = 0; + out_3844222318897373612[225] = 0; + out_3844222318897373612[226] = 0; + out_3844222318897373612[227] = 0; + out_3844222318897373612[228] = 1; + out_3844222318897373612[229] = 0; + out_3844222318897373612[230] = 0; + out_3844222318897373612[231] = 0; + out_3844222318897373612[232] = 0; + out_3844222318897373612[233] = 0; + out_3844222318897373612[234] = 0; + out_3844222318897373612[235] = 0; + out_3844222318897373612[236] = 0; + out_3844222318897373612[237] = 0; + out_3844222318897373612[238] = 0; + out_3844222318897373612[239] = 0; + out_3844222318897373612[240] = 0; + out_3844222318897373612[241] = 0; + out_3844222318897373612[242] = 0; + out_3844222318897373612[243] = 0; + out_3844222318897373612[244] = 0; + out_3844222318897373612[245] = 0; + out_3844222318897373612[246] = 0; + out_3844222318897373612[247] = 1; + out_3844222318897373612[248] = 0; + out_3844222318897373612[249] = 0; + out_3844222318897373612[250] = 0; + out_3844222318897373612[251] = 0; + out_3844222318897373612[252] = 0; + out_3844222318897373612[253] = 0; + out_3844222318897373612[254] = 0; + out_3844222318897373612[255] = 0; + out_3844222318897373612[256] = 0; + out_3844222318897373612[257] = 0; + out_3844222318897373612[258] = 0; + out_3844222318897373612[259] = 0; + out_3844222318897373612[260] = 0; + out_3844222318897373612[261] = 0; + out_3844222318897373612[262] = 0; + out_3844222318897373612[263] = 0; + out_3844222318897373612[264] = 0; + out_3844222318897373612[265] = 0; + out_3844222318897373612[266] = 1; + out_3844222318897373612[267] = 0; + out_3844222318897373612[268] = 0; + out_3844222318897373612[269] = 0; + out_3844222318897373612[270] = 0; + out_3844222318897373612[271] = 0; + out_3844222318897373612[272] = 0; + out_3844222318897373612[273] = 0; + out_3844222318897373612[274] = 0; + out_3844222318897373612[275] = 0; + out_3844222318897373612[276] = 0; + out_3844222318897373612[277] = 0; + out_3844222318897373612[278] = 0; + out_3844222318897373612[279] = 0; + out_3844222318897373612[280] = 0; + out_3844222318897373612[281] = 0; + out_3844222318897373612[282] = 0; + out_3844222318897373612[283] = 0; + out_3844222318897373612[284] = 0; + out_3844222318897373612[285] = 1; + out_3844222318897373612[286] = 0; + out_3844222318897373612[287] = 0; + out_3844222318897373612[288] = 0; + out_3844222318897373612[289] = 0; + out_3844222318897373612[290] = 0; + out_3844222318897373612[291] = 0; + out_3844222318897373612[292] = 0; + out_3844222318897373612[293] = 0; + out_3844222318897373612[294] = 0; + out_3844222318897373612[295] = 0; + out_3844222318897373612[296] = 0; + out_3844222318897373612[297] = 0; + out_3844222318897373612[298] = 0; + out_3844222318897373612[299] = 0; + out_3844222318897373612[300] = 0; + out_3844222318897373612[301] = 0; + out_3844222318897373612[302] = 0; + out_3844222318897373612[303] = 0; + out_3844222318897373612[304] = 1; + out_3844222318897373612[305] = 0; + out_3844222318897373612[306] = 0; + out_3844222318897373612[307] = 0; + out_3844222318897373612[308] = 0; + out_3844222318897373612[309] = 0; + out_3844222318897373612[310] = 0; + out_3844222318897373612[311] = 0; + out_3844222318897373612[312] = 0; + out_3844222318897373612[313] = 0; + out_3844222318897373612[314] = 0; + out_3844222318897373612[315] = 0; + out_3844222318897373612[316] = 0; + out_3844222318897373612[317] = 0; + out_3844222318897373612[318] = 0; + out_3844222318897373612[319] = 0; + out_3844222318897373612[320] = 0; + out_3844222318897373612[321] = 0; + out_3844222318897373612[322] = 0; + out_3844222318897373612[323] = 1; } -void h_4(double *state, double *unused, double *out_2637904353676577) { - out_2637904353676577[0] = state[6] + state[9]; - out_2637904353676577[1] = state[7] + state[10]; - out_2637904353676577[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7417392044831538702) { + out_7417392044831538702[0] = state[6] + state[9]; + out_7417392044831538702[1] = state[7] + state[10]; + out_7417392044831538702[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_3423721897772556678) { - out_3423721897772556678[0] = 0; - out_3423721897772556678[1] = 0; - out_3423721897772556678[2] = 0; - out_3423721897772556678[3] = 0; - out_3423721897772556678[4] = 0; - out_3423721897772556678[5] = 0; - out_3423721897772556678[6] = 1; - out_3423721897772556678[7] = 0; - out_3423721897772556678[8] = 0; - out_3423721897772556678[9] = 1; - out_3423721897772556678[10] = 0; - out_3423721897772556678[11] = 0; - out_3423721897772556678[12] = 0; - out_3423721897772556678[13] = 0; - out_3423721897772556678[14] = 0; - out_3423721897772556678[15] = 0; - out_3423721897772556678[16] = 0; - out_3423721897772556678[17] = 0; - out_3423721897772556678[18] = 0; - out_3423721897772556678[19] = 0; - out_3423721897772556678[20] = 0; - out_3423721897772556678[21] = 0; - out_3423721897772556678[22] = 0; - out_3423721897772556678[23] = 0; - out_3423721897772556678[24] = 0; - out_3423721897772556678[25] = 1; - out_3423721897772556678[26] = 0; - out_3423721897772556678[27] = 0; - out_3423721897772556678[28] = 1; - out_3423721897772556678[29] = 0; - out_3423721897772556678[30] = 0; - out_3423721897772556678[31] = 0; - out_3423721897772556678[32] = 0; - out_3423721897772556678[33] = 0; - out_3423721897772556678[34] = 0; - out_3423721897772556678[35] = 0; - out_3423721897772556678[36] = 0; - out_3423721897772556678[37] = 0; - out_3423721897772556678[38] = 0; - out_3423721897772556678[39] = 0; - out_3423721897772556678[40] = 0; - out_3423721897772556678[41] = 0; - out_3423721897772556678[42] = 0; - out_3423721897772556678[43] = 0; - out_3423721897772556678[44] = 1; - out_3423721897772556678[45] = 0; - out_3423721897772556678[46] = 0; - out_3423721897772556678[47] = 1; - out_3423721897772556678[48] = 0; - out_3423721897772556678[49] = 0; - out_3423721897772556678[50] = 0; - out_3423721897772556678[51] = 0; - out_3423721897772556678[52] = 0; - out_3423721897772556678[53] = 0; +void H_4(double *state, double *unused, double *out_744215863507435876) { + out_744215863507435876[0] = 0; + out_744215863507435876[1] = 0; + out_744215863507435876[2] = 0; + out_744215863507435876[3] = 0; + out_744215863507435876[4] = 0; + out_744215863507435876[5] = 0; + out_744215863507435876[6] = 1; + out_744215863507435876[7] = 0; + out_744215863507435876[8] = 0; + out_744215863507435876[9] = 1; + out_744215863507435876[10] = 0; + out_744215863507435876[11] = 0; + out_744215863507435876[12] = 0; + out_744215863507435876[13] = 0; + out_744215863507435876[14] = 0; + out_744215863507435876[15] = 0; + out_744215863507435876[16] = 0; + out_744215863507435876[17] = 0; + out_744215863507435876[18] = 0; + out_744215863507435876[19] = 0; + out_744215863507435876[20] = 0; + out_744215863507435876[21] = 0; + out_744215863507435876[22] = 0; + out_744215863507435876[23] = 0; + out_744215863507435876[24] = 0; + out_744215863507435876[25] = 1; + out_744215863507435876[26] = 0; + out_744215863507435876[27] = 0; + out_744215863507435876[28] = 1; + out_744215863507435876[29] = 0; + out_744215863507435876[30] = 0; + out_744215863507435876[31] = 0; + out_744215863507435876[32] = 0; + out_744215863507435876[33] = 0; + out_744215863507435876[34] = 0; + out_744215863507435876[35] = 0; + out_744215863507435876[36] = 0; + out_744215863507435876[37] = 0; + out_744215863507435876[38] = 0; + out_744215863507435876[39] = 0; + out_744215863507435876[40] = 0; + out_744215863507435876[41] = 0; + out_744215863507435876[42] = 0; + out_744215863507435876[43] = 0; + out_744215863507435876[44] = 1; + out_744215863507435876[45] = 0; + out_744215863507435876[46] = 0; + out_744215863507435876[47] = 1; + out_744215863507435876[48] = 0; + out_744215863507435876[49] = 0; + out_744215863507435876[50] = 0; + out_744215863507435876[51] = 0; + out_744215863507435876[52] = 0; + out_744215863507435876[53] = 0; } -void h_10(double *state, double *unused, double *out_2208932603856339349) { - out_2208932603856339349[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_2208932603856339349[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_2208932603856339349[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_5837768205443090035) { + out_5837768205443090035[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5837768205443090035[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5837768205443090035[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_1086050679309335415) { - out_1086050679309335415[0] = 0; - out_1086050679309335415[1] = 9.8100000000000005*cos(state[1]); - out_1086050679309335415[2] = 0; - out_1086050679309335415[3] = 0; - out_1086050679309335415[4] = -state[8]; - out_1086050679309335415[5] = state[7]; - out_1086050679309335415[6] = 0; - out_1086050679309335415[7] = state[5]; - out_1086050679309335415[8] = -state[4]; - out_1086050679309335415[9] = 0; - out_1086050679309335415[10] = 0; - out_1086050679309335415[11] = 0; - out_1086050679309335415[12] = 1; - out_1086050679309335415[13] = 0; - out_1086050679309335415[14] = 0; - out_1086050679309335415[15] = 1; - out_1086050679309335415[16] = 0; - out_1086050679309335415[17] = 0; - out_1086050679309335415[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1086050679309335415[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1086050679309335415[20] = 0; - out_1086050679309335415[21] = state[8]; - out_1086050679309335415[22] = 0; - out_1086050679309335415[23] = -state[6]; - out_1086050679309335415[24] = -state[5]; - out_1086050679309335415[25] = 0; - out_1086050679309335415[26] = state[3]; - out_1086050679309335415[27] = 0; - out_1086050679309335415[28] = 0; - out_1086050679309335415[29] = 0; - out_1086050679309335415[30] = 0; - out_1086050679309335415[31] = 1; - out_1086050679309335415[32] = 0; - out_1086050679309335415[33] = 0; - out_1086050679309335415[34] = 1; - out_1086050679309335415[35] = 0; - out_1086050679309335415[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1086050679309335415[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1086050679309335415[38] = 0; - out_1086050679309335415[39] = -state[7]; - out_1086050679309335415[40] = state[6]; - out_1086050679309335415[41] = 0; - out_1086050679309335415[42] = state[4]; - out_1086050679309335415[43] = -state[3]; - out_1086050679309335415[44] = 0; - out_1086050679309335415[45] = 0; - out_1086050679309335415[46] = 0; - out_1086050679309335415[47] = 0; - out_1086050679309335415[48] = 0; - out_1086050679309335415[49] = 0; - out_1086050679309335415[50] = 1; - out_1086050679309335415[51] = 0; - out_1086050679309335415[52] = 0; - out_1086050679309335415[53] = 1; +void H_10(double *state, double *unused, double *out_6045792490383943628) { + out_6045792490383943628[0] = 0; + out_6045792490383943628[1] = 9.8100000000000005*cos(state[1]); + out_6045792490383943628[2] = 0; + out_6045792490383943628[3] = 0; + out_6045792490383943628[4] = -state[8]; + out_6045792490383943628[5] = state[7]; + out_6045792490383943628[6] = 0; + out_6045792490383943628[7] = state[5]; + out_6045792490383943628[8] = -state[4]; + out_6045792490383943628[9] = 0; + out_6045792490383943628[10] = 0; + out_6045792490383943628[11] = 0; + out_6045792490383943628[12] = 1; + out_6045792490383943628[13] = 0; + out_6045792490383943628[14] = 0; + out_6045792490383943628[15] = 1; + out_6045792490383943628[16] = 0; + out_6045792490383943628[17] = 0; + out_6045792490383943628[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_6045792490383943628[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_6045792490383943628[20] = 0; + out_6045792490383943628[21] = state[8]; + out_6045792490383943628[22] = 0; + out_6045792490383943628[23] = -state[6]; + out_6045792490383943628[24] = -state[5]; + out_6045792490383943628[25] = 0; + out_6045792490383943628[26] = state[3]; + out_6045792490383943628[27] = 0; + out_6045792490383943628[28] = 0; + out_6045792490383943628[29] = 0; + out_6045792490383943628[30] = 0; + out_6045792490383943628[31] = 1; + out_6045792490383943628[32] = 0; + out_6045792490383943628[33] = 0; + out_6045792490383943628[34] = 1; + out_6045792490383943628[35] = 0; + out_6045792490383943628[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_6045792490383943628[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_6045792490383943628[38] = 0; + out_6045792490383943628[39] = -state[7]; + out_6045792490383943628[40] = state[6]; + out_6045792490383943628[41] = 0; + out_6045792490383943628[42] = state[4]; + out_6045792490383943628[43] = -state[3]; + out_6045792490383943628[44] = 0; + out_6045792490383943628[45] = 0; + out_6045792490383943628[46] = 0; + out_6045792490383943628[47] = 0; + out_6045792490383943628[48] = 0; + out_6045792490383943628[49] = 0; + out_6045792490383943628[50] = 1; + out_6045792490383943628[51] = 0; + out_6045792490383943628[52] = 0; + out_6045792490383943628[53] = 1; } -void h_13(double *state, double *unused, double *out_8307148822937221148) { - out_8307148822937221148[0] = state[3]; - out_8307148822937221148[1] = state[4]; - out_8307148822937221148[2] = state[5]; +void h_13(double *state, double *unused, double *out_886522868392701902) { + out_886522868392701902[0] = state[3]; + out_886522868392701902[1] = state[4]; + out_886522868392701902[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6635995723104889479) { - out_6635995723104889479[0] = 0; - out_6635995723104889479[1] = 0; - out_6635995723104889479[2] = 0; - out_6635995723104889479[3] = 1; - out_6635995723104889479[4] = 0; - out_6635995723104889479[5] = 0; - out_6635995723104889479[6] = 0; - out_6635995723104889479[7] = 0; - out_6635995723104889479[8] = 0; - out_6635995723104889479[9] = 0; - out_6635995723104889479[10] = 0; - out_6635995723104889479[11] = 0; - out_6635995723104889479[12] = 0; - out_6635995723104889479[13] = 0; - out_6635995723104889479[14] = 0; - out_6635995723104889479[15] = 0; - out_6635995723104889479[16] = 0; - out_6635995723104889479[17] = 0; - out_6635995723104889479[18] = 0; - out_6635995723104889479[19] = 0; - out_6635995723104889479[20] = 0; - out_6635995723104889479[21] = 0; - out_6635995723104889479[22] = 1; - out_6635995723104889479[23] = 0; - out_6635995723104889479[24] = 0; - out_6635995723104889479[25] = 0; - out_6635995723104889479[26] = 0; - out_6635995723104889479[27] = 0; - out_6635995723104889479[28] = 0; - out_6635995723104889479[29] = 0; - out_6635995723104889479[30] = 0; - out_6635995723104889479[31] = 0; - out_6635995723104889479[32] = 0; - out_6635995723104889479[33] = 0; - out_6635995723104889479[34] = 0; - out_6635995723104889479[35] = 0; - out_6635995723104889479[36] = 0; - out_6635995723104889479[37] = 0; - out_6635995723104889479[38] = 0; - out_6635995723104889479[39] = 0; - out_6635995723104889479[40] = 0; - out_6635995723104889479[41] = 1; - out_6635995723104889479[42] = 0; - out_6635995723104889479[43] = 0; - out_6635995723104889479[44] = 0; - out_6635995723104889479[45] = 0; - out_6635995723104889479[46] = 0; - out_6635995723104889479[47] = 0; - out_6635995723104889479[48] = 0; - out_6635995723104889479[49] = 0; - out_6635995723104889479[50] = 0; - out_6635995723104889479[51] = 0; - out_6635995723104889479[52] = 0; - out_6635995723104889479[53] = 0; +void H_13(double *state, double *unused, double *out_2468057961824896925) { + out_2468057961824896925[0] = 0; + out_2468057961824896925[1] = 0; + out_2468057961824896925[2] = 0; + out_2468057961824896925[3] = 1; + out_2468057961824896925[4] = 0; + out_2468057961824896925[5] = 0; + out_2468057961824896925[6] = 0; + out_2468057961824896925[7] = 0; + out_2468057961824896925[8] = 0; + out_2468057961824896925[9] = 0; + out_2468057961824896925[10] = 0; + out_2468057961824896925[11] = 0; + out_2468057961824896925[12] = 0; + out_2468057961824896925[13] = 0; + out_2468057961824896925[14] = 0; + out_2468057961824896925[15] = 0; + out_2468057961824896925[16] = 0; + out_2468057961824896925[17] = 0; + out_2468057961824896925[18] = 0; + out_2468057961824896925[19] = 0; + out_2468057961824896925[20] = 0; + out_2468057961824896925[21] = 0; + out_2468057961824896925[22] = 1; + out_2468057961824896925[23] = 0; + out_2468057961824896925[24] = 0; + out_2468057961824896925[25] = 0; + out_2468057961824896925[26] = 0; + out_2468057961824896925[27] = 0; + out_2468057961824896925[28] = 0; + out_2468057961824896925[29] = 0; + out_2468057961824896925[30] = 0; + out_2468057961824896925[31] = 0; + out_2468057961824896925[32] = 0; + out_2468057961824896925[33] = 0; + out_2468057961824896925[34] = 0; + out_2468057961824896925[35] = 0; + out_2468057961824896925[36] = 0; + out_2468057961824896925[37] = 0; + out_2468057961824896925[38] = 0; + out_2468057961824896925[39] = 0; + out_2468057961824896925[40] = 0; + out_2468057961824896925[41] = 1; + out_2468057961824896925[42] = 0; + out_2468057961824896925[43] = 0; + out_2468057961824896925[44] = 0; + out_2468057961824896925[45] = 0; + out_2468057961824896925[46] = 0; + out_2468057961824896925[47] = 0; + out_2468057961824896925[48] = 0; + out_2468057961824896925[49] = 0; + out_2468057961824896925[50] = 0; + out_2468057961824896925[51] = 0; + out_2468057961824896925[52] = 0; + out_2468057961824896925[53] = 0; } -void h_14(double *state, double *unused, double *out_81297754970292080) { - out_81297754970292080[0] = state[6]; - out_81297754970292080[1] = state[7]; - out_81297754970292080[2] = state[8]; +void h_14(double *state, double *unused, double *out_8921497272601995159) { + out_8921497272601995159[0] = state[6]; + out_8921497272601995159[1] = state[7]; + out_8921497272601995159[2] = state[8]; } -void H_14(double *state, double *unused, double *out_7386962754112041207) { - out_7386962754112041207[0] = 0; - out_7386962754112041207[1] = 0; - out_7386962754112041207[2] = 0; - out_7386962754112041207[3] = 0; - out_7386962754112041207[4] = 0; - out_7386962754112041207[5] = 0; - out_7386962754112041207[6] = 1; - out_7386962754112041207[7] = 0; - out_7386962754112041207[8] = 0; - out_7386962754112041207[9] = 0; - out_7386962754112041207[10] = 0; - out_7386962754112041207[11] = 0; - out_7386962754112041207[12] = 0; - out_7386962754112041207[13] = 0; - out_7386962754112041207[14] = 0; - out_7386962754112041207[15] = 0; - out_7386962754112041207[16] = 0; - out_7386962754112041207[17] = 0; - out_7386962754112041207[18] = 0; - out_7386962754112041207[19] = 0; - out_7386962754112041207[20] = 0; - out_7386962754112041207[21] = 0; - out_7386962754112041207[22] = 0; - out_7386962754112041207[23] = 0; - out_7386962754112041207[24] = 0; - out_7386962754112041207[25] = 1; - out_7386962754112041207[26] = 0; - out_7386962754112041207[27] = 0; - out_7386962754112041207[28] = 0; - out_7386962754112041207[29] = 0; - out_7386962754112041207[30] = 0; - out_7386962754112041207[31] = 0; - out_7386962754112041207[32] = 0; - out_7386962754112041207[33] = 0; - out_7386962754112041207[34] = 0; - out_7386962754112041207[35] = 0; - out_7386962754112041207[36] = 0; - out_7386962754112041207[37] = 0; - out_7386962754112041207[38] = 0; - out_7386962754112041207[39] = 0; - out_7386962754112041207[40] = 0; - out_7386962754112041207[41] = 0; - out_7386962754112041207[42] = 0; - out_7386962754112041207[43] = 0; - out_7386962754112041207[44] = 1; - out_7386962754112041207[45] = 0; - out_7386962754112041207[46] = 0; - out_7386962754112041207[47] = 0; - out_7386962754112041207[48] = 0; - out_7386962754112041207[49] = 0; - out_7386962754112041207[50] = 0; - out_7386962754112041207[51] = 0; - out_7386962754112041207[52] = 0; - out_7386962754112041207[53] = 0; +void H_14(double *state, double *unused, double *out_8225361678787176300) { + out_8225361678787176300[0] = 0; + out_8225361678787176300[1] = 0; + out_8225361678787176300[2] = 0; + out_8225361678787176300[3] = 0; + out_8225361678787176300[4] = 0; + out_8225361678787176300[5] = 0; + out_8225361678787176300[6] = 1; + out_8225361678787176300[7] = 0; + out_8225361678787176300[8] = 0; + out_8225361678787176300[9] = 0; + out_8225361678787176300[10] = 0; + out_8225361678787176300[11] = 0; + out_8225361678787176300[12] = 0; + out_8225361678787176300[13] = 0; + out_8225361678787176300[14] = 0; + out_8225361678787176300[15] = 0; + out_8225361678787176300[16] = 0; + out_8225361678787176300[17] = 0; + out_8225361678787176300[18] = 0; + out_8225361678787176300[19] = 0; + out_8225361678787176300[20] = 0; + out_8225361678787176300[21] = 0; + out_8225361678787176300[22] = 0; + out_8225361678787176300[23] = 0; + out_8225361678787176300[24] = 0; + out_8225361678787176300[25] = 1; + out_8225361678787176300[26] = 0; + out_8225361678787176300[27] = 0; + out_8225361678787176300[28] = 0; + out_8225361678787176300[29] = 0; + out_8225361678787176300[30] = 0; + out_8225361678787176300[31] = 0; + out_8225361678787176300[32] = 0; + out_8225361678787176300[33] = 0; + out_8225361678787176300[34] = 0; + out_8225361678787176300[35] = 0; + out_8225361678787176300[36] = 0; + out_8225361678787176300[37] = 0; + out_8225361678787176300[38] = 0; + out_8225361678787176300[39] = 0; + out_8225361678787176300[40] = 0; + out_8225361678787176300[41] = 0; + out_8225361678787176300[42] = 0; + out_8225361678787176300[43] = 0; + out_8225361678787176300[44] = 1; + out_8225361678787176300[45] = 0; + out_8225361678787176300[46] = 0; + out_8225361678787176300[47] = 0; + out_8225361678787176300[48] = 0; + out_8225361678787176300[49] = 0; + out_8225361678787176300[50] = 0; + out_8225361678787176300[51] = 0; + out_8225361678787176300[52] = 0; + out_8225361678787176300[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_5566842885647767369) { - err_fun(nom_x, delta_x, out_5566842885647767369); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6609500045983475884) { + err_fun(nom_x, delta_x, out_6609500045983475884); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7605915063363770360) { - inv_err_fun(nom_x, true_x, out_7605915063363770360); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2251582086712269854) { + inv_err_fun(nom_x, true_x, out_2251582086712269854); } -void pose_H_mod_fun(double *state, double *out_9174940369185036217) { - H_mod_fun(state, out_9174940369185036217); +void pose_H_mod_fun(double *state, double *out_8200145802550385466) { + H_mod_fun(state, out_8200145802550385466); } -void pose_f_fun(double *state, double dt, double *out_4673717053718014348) { - f_fun(state, dt, out_4673717053718014348); +void pose_f_fun(double *state, double dt, double *out_3154493756264028272) { + f_fun(state, dt, out_3154493756264028272); } -void pose_F_fun(double *state, double dt, double *out_7626949901910213403) { - F_fun(state, dt, out_7626949901910213403); +void pose_F_fun(double *state, double dt, double *out_3844222318897373612) { + F_fun(state, dt, out_3844222318897373612); } -void pose_h_4(double *state, double *unused, double *out_2637904353676577) { - h_4(state, unused, out_2637904353676577); +void pose_h_4(double *state, double *unused, double *out_7417392044831538702) { + h_4(state, unused, out_7417392044831538702); } -void pose_H_4(double *state, double *unused, double *out_3423721897772556678) { - H_4(state, unused, out_3423721897772556678); +void pose_H_4(double *state, double *unused, double *out_744215863507435876) { + H_4(state, unused, out_744215863507435876); } -void pose_h_10(double *state, double *unused, double *out_2208932603856339349) { - h_10(state, unused, out_2208932603856339349); +void pose_h_10(double *state, double *unused, double *out_5837768205443090035) { + h_10(state, unused, out_5837768205443090035); } -void pose_H_10(double *state, double *unused, double *out_1086050679309335415) { - H_10(state, unused, out_1086050679309335415); +void pose_H_10(double *state, double *unused, double *out_6045792490383943628) { + H_10(state, unused, out_6045792490383943628); } -void pose_h_13(double *state, double *unused, double *out_8307148822937221148) { - h_13(state, unused, out_8307148822937221148); +void pose_h_13(double *state, double *unused, double *out_886522868392701902) { + h_13(state, unused, out_886522868392701902); } -void pose_H_13(double *state, double *unused, double *out_6635995723104889479) { - H_13(state, unused, out_6635995723104889479); +void pose_H_13(double *state, double *unused, double *out_2468057961824896925) { + H_13(state, unused, out_2468057961824896925); } -void pose_h_14(double *state, double *unused, double *out_81297754970292080) { - h_14(state, unused, out_81297754970292080); +void pose_h_14(double *state, double *unused, double *out_8921497272601995159) { + h_14(state, unused, out_8921497272601995159); } -void pose_H_14(double *state, double *unused, double *out_7386962754112041207) { - H_14(state, unused, out_7386962754112041207); +void pose_H_14(double *state, double *unused, double *out_8225361678787176300) { + H_14(state, unused, out_8225361678787176300); } 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/openpilot/selfdrive/locationd/models/generated/pose.h b/openpilot/selfdrive/locationd/models/generated/pose.h index 2e0432f835..f7ce8bf35f 100644 --- a/openpilot/selfdrive/locationd/models/generated/pose.h +++ b/openpilot/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_5566842885647767369); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7605915063363770360); -void pose_H_mod_fun(double *state, double *out_9174940369185036217); -void pose_f_fun(double *state, double dt, double *out_4673717053718014348); -void pose_F_fun(double *state, double dt, double *out_7626949901910213403); -void pose_h_4(double *state, double *unused, double *out_2637904353676577); -void pose_H_4(double *state, double *unused, double *out_3423721897772556678); -void pose_h_10(double *state, double *unused, double *out_2208932603856339349); -void pose_H_10(double *state, double *unused, double *out_1086050679309335415); -void pose_h_13(double *state, double *unused, double *out_8307148822937221148); -void pose_H_13(double *state, double *unused, double *out_6635995723104889479); -void pose_h_14(double *state, double *unused, double *out_81297754970292080); -void pose_H_14(double *state, double *unused, double *out_7386962754112041207); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6609500045983475884); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2251582086712269854); +void pose_H_mod_fun(double *state, double *out_8200145802550385466); +void pose_f_fun(double *state, double dt, double *out_3154493756264028272); +void pose_F_fun(double *state, double dt, double *out_3844222318897373612); +void pose_h_4(double *state, double *unused, double *out_7417392044831538702); +void pose_H_4(double *state, double *unused, double *out_744215863507435876); +void pose_h_10(double *state, double *unused, double *out_5837768205443090035); +void pose_H_10(double *state, double *unused, double *out_6045792490383943628); +void pose_h_13(double *state, double *unused, double *out_886522868392701902); +void pose_H_13(double *state, double *unused, double *out_2468057961824896925); +void pose_h_14(double *state, double *unused, double *out_8921497272601995159); +void pose_H_14(double *state, double *unused, double *out_8225361678787176300); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index f50bc0b024..03fac61587 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/bootstub.body_h7.bin b/panda/board/obj/bootstub.body_h7.bin index 7a568f1992..c4905a7382 100755 Binary files a/panda/board/obj/bootstub.body_h7.bin and b/panda/board/obj/bootstub.body_h7.bin differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote.bin and b/panda/board/obj/bootstub.panda_h7_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_tesla_wake.bin b/panda/board/obj/bootstub.panda_h7_tesla_wake.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7_tesla_wake.bin and b/panda/board/obj/bootstub.panda_h7_tesla_wake.bin differ diff --git a/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin index 027bdea238..7764ed9ed4 100755 Binary files a/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_h7_tesla_wake_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote.bin and b/panda/board/obj/bootstub.panda_hkg_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_tesla_wake.bin b/panda/board/obj/bootstub.panda_tesla_wake.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda_tesla_wake.bin and b/panda/board/obj/bootstub.panda_tesla_wake.bin differ diff --git a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin index 77c5bca4e0..fb7632566f 100755 Binary files a/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_tesla_wake_can_ignition_only.bin differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 7358d312ca..e263e578ab 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,4 +1,4 @@ #pragma once extern const uint8_t gitversion[29]; -const uint8_t gitversion[29] = "DEV-53309097-P92eb5651-DEBUG"; +const uint8_t gitversion[29] = "DEV-192729eb-P92eb5651-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index d4a6dd77f7..1d3843373f 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda_can_ignition_only.bin.signed b/panda/board/obj/panda_can_ignition_only.bin.signed index 7d6bfbf672..ba5ff73b19 100644 Binary files a/panda/board/obj/panda_can_ignition_only.bin.signed and b/panda/board/obj/panda_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 10c0e42ae1..e8e7d82d4b 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_can_ignition_only.bin.signed index 5ccd2824bf..d98faaa83f 100644 Binary files a/panda/board/obj/panda_h7_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote.bin.signed b/panda/board/obj/panda_h7_hkg_remote.bin.signed index 62152d4a74..5f4aac23bc 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote.bin.signed and b/panda/board/obj/panda_h7_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed index d86a74d50c..0faaa3ed45 100644 Binary files a/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote.bin.signed b/panda/board/obj/panda_h7_remote.bin.signed index 3204ccd025..c5994c607c 100644 Binary files a/panda/board/obj/panda_h7_remote.bin.signed and b/panda/board/obj/panda_h7_remote.bin.signed differ diff --git a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed index 47d0e98f92..9b389dbafe 100644 Binary files a/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_h7_tesla_wake.bin.signed b/panda/board/obj/panda_h7_tesla_wake.bin.signed index 481b91f3c5..5d390acb17 100644 Binary files a/panda/board/obj/panda_h7_tesla_wake.bin.signed and b/panda/board/obj/panda_h7_tesla_wake.bin.signed differ diff --git a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed index bfbe03afec..01ffc5370e 100644 Binary files a/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed and b/panda/board/obj/panda_h7_tesla_wake_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote.bin.signed b/panda/board/obj/panda_hkg_remote.bin.signed index 0afca5b01d..171ee7fa41 100644 Binary files a/panda/board/obj/panda_hkg_remote.bin.signed and b/panda/board/obj/panda_hkg_remote.bin.signed differ diff --git a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed index 0dddca3995..5f80f12770 100644 Binary files a/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_hkg_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_remote.bin.signed b/panda/board/obj/panda_remote.bin.signed index e4e0efc5bd..e07b991e63 100644 Binary files a/panda/board/obj/panda_remote.bin.signed and b/panda/board/obj/panda_remote.bin.signed differ diff --git a/panda/board/obj/panda_remote_can_ignition_only.bin.signed b/panda/board/obj/panda_remote_can_ignition_only.bin.signed index 41c2cac46f..d7f86b2a6f 100644 Binary files a/panda/board/obj/panda_remote_can_ignition_only.bin.signed and b/panda/board/obj/panda_remote_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/panda_tesla_wake.bin.signed b/panda/board/obj/panda_tesla_wake.bin.signed index 40b4ee84c9..4551a63ff0 100644 Binary files a/panda/board/obj/panda_tesla_wake.bin.signed and b/panda/board/obj/panda_tesla_wake.bin.signed differ diff --git a/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed b/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed index 7dfe6b0ec1..2b189083c5 100644 Binary files a/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed and b/panda/board/obj/panda_tesla_wake_can_ignition_only.bin.signed differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 03fcc3de46..fe5fa43404 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-53309097-P92eb5651-DEBUG \ No newline at end of file +DEV-192729eb-P92eb5651-DEBUG \ No newline at end of file diff --git a/prebuilt b/prebuilt new file mode 100644 index 0000000000..e69de29bb2 diff --git a/prebuilt.json b/prebuilt.json index 1abccabce2..5c9a130163 100644 --- a/prebuilt.json +++ b/prebuilt.json @@ -1 +1 @@ -{"protected_inventory_sha256": "20607e60ee00780c30313c0eb508f7a189a6efdd052932e1be8e285b6d3ba398", "schema_version": 1} +{"protected_inventory_sha256": "fceebd0a104d5d72e754217a553cf43fb51c6cf3b309148387f897441b94d41f", "schema_version": 1}