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b/panda/board/obj/version @@ -1 +1 @@ -DEV-713ce294-DEBUG \ No newline at end of file +DEV-0351e7d8-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 1ac3087aa..79f02945c 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/selfdrive/locationd/models/generated/car.cpp @@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104) { - out_2798728055434719104[0] = delta_x[0] + nom_x[0]; - out_2798728055434719104[1] = delta_x[1] + nom_x[1]; - out_2798728055434719104[2] = delta_x[2] + nom_x[2]; - out_2798728055434719104[3] = delta_x[3] + nom_x[3]; - out_2798728055434719104[4] = delta_x[4] + nom_x[4]; - out_2798728055434719104[5] = delta_x[5] + nom_x[5]; - out_2798728055434719104[6] = delta_x[6] + nom_x[6]; - out_2798728055434719104[7] = delta_x[7] + nom_x[7]; - out_2798728055434719104[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3329877133651101623) { + out_3329877133651101623[0] = delta_x[0] + nom_x[0]; + out_3329877133651101623[1] = delta_x[1] + nom_x[1]; + out_3329877133651101623[2] = delta_x[2] + nom_x[2]; + out_3329877133651101623[3] = delta_x[3] + nom_x[3]; + out_3329877133651101623[4] = delta_x[4] + nom_x[4]; + out_3329877133651101623[5] = delta_x[5] + nom_x[5]; + out_3329877133651101623[6] = delta_x[6] + nom_x[6]; + out_3329877133651101623[7] = delta_x[7] + nom_x[7]; + out_3329877133651101623[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { - out_5158994837086933641[0] = -nom_x[0] + true_x[0]; - out_5158994837086933641[1] = -nom_x[1] + true_x[1]; - out_5158994837086933641[2] = -nom_x[2] + true_x[2]; - out_5158994837086933641[3] = -nom_x[3] + true_x[3]; - out_5158994837086933641[4] = -nom_x[4] + true_x[4]; - out_5158994837086933641[5] = -nom_x[5] + true_x[5]; - out_5158994837086933641[6] = -nom_x[6] + true_x[6]; - out_5158994837086933641[7] = -nom_x[7] + true_x[7]; - out_5158994837086933641[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { + out_7760882190653564987[0] = -nom_x[0] + true_x[0]; + out_7760882190653564987[1] = -nom_x[1] + true_x[1]; + out_7760882190653564987[2] = -nom_x[2] + true_x[2]; + out_7760882190653564987[3] = -nom_x[3] + true_x[3]; + out_7760882190653564987[4] = -nom_x[4] + true_x[4]; + out_7760882190653564987[5] = -nom_x[5] + true_x[5]; + out_7760882190653564987[6] = -nom_x[6] + true_x[6]; + out_7760882190653564987[7] = -nom_x[7] + true_x[7]; + out_7760882190653564987[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8807292285450126459) { - out_8807292285450126459[0] = 1.0; - out_8807292285450126459[1] = 0.0; - out_8807292285450126459[2] = 0.0; - out_8807292285450126459[3] = 0.0; - out_8807292285450126459[4] = 0.0; - out_8807292285450126459[5] = 0.0; - out_8807292285450126459[6] = 0.0; - out_8807292285450126459[7] = 0.0; - out_8807292285450126459[8] = 0.0; - out_8807292285450126459[9] = 0.0; - out_8807292285450126459[10] = 1.0; - out_8807292285450126459[11] = 0.0; - out_8807292285450126459[12] = 0.0; - out_8807292285450126459[13] = 0.0; - out_8807292285450126459[14] = 0.0; - out_8807292285450126459[15] = 0.0; - out_8807292285450126459[16] = 0.0; - out_8807292285450126459[17] = 0.0; - out_8807292285450126459[18] = 0.0; - out_8807292285450126459[19] = 0.0; - out_8807292285450126459[20] = 1.0; - out_8807292285450126459[21] = 0.0; - out_8807292285450126459[22] = 0.0; - out_8807292285450126459[23] = 0.0; - out_8807292285450126459[24] = 0.0; - out_8807292285450126459[25] = 0.0; - out_8807292285450126459[26] = 0.0; - out_8807292285450126459[27] = 0.0; - out_8807292285450126459[28] = 0.0; - out_8807292285450126459[29] = 0.0; - out_8807292285450126459[30] = 1.0; - out_8807292285450126459[31] = 0.0; - out_8807292285450126459[32] = 0.0; - out_8807292285450126459[33] = 0.0; - out_8807292285450126459[34] = 0.0; - out_8807292285450126459[35] = 0.0; - out_8807292285450126459[36] = 0.0; - out_8807292285450126459[37] = 0.0; - out_8807292285450126459[38] = 0.0; - out_8807292285450126459[39] = 0.0; - out_8807292285450126459[40] = 1.0; - out_8807292285450126459[41] = 0.0; - out_8807292285450126459[42] = 0.0; - out_8807292285450126459[43] = 0.0; - out_8807292285450126459[44] = 0.0; - out_8807292285450126459[45] = 0.0; - out_8807292285450126459[46] = 0.0; - out_8807292285450126459[47] = 0.0; - out_8807292285450126459[48] = 0.0; - out_8807292285450126459[49] = 0.0; - out_8807292285450126459[50] = 1.0; - out_8807292285450126459[51] = 0.0; - out_8807292285450126459[52] = 0.0; - out_8807292285450126459[53] = 0.0; - out_8807292285450126459[54] = 0.0; - out_8807292285450126459[55] = 0.0; - out_8807292285450126459[56] = 0.0; - out_8807292285450126459[57] = 0.0; - out_8807292285450126459[58] = 0.0; - out_8807292285450126459[59] = 0.0; - out_8807292285450126459[60] = 1.0; - out_8807292285450126459[61] = 0.0; - out_8807292285450126459[62] = 0.0; - out_8807292285450126459[63] = 0.0; - out_8807292285450126459[64] = 0.0; - out_8807292285450126459[65] = 0.0; - out_8807292285450126459[66] = 0.0; - out_8807292285450126459[67] = 0.0; - out_8807292285450126459[68] = 0.0; - out_8807292285450126459[69] = 0.0; - out_8807292285450126459[70] = 1.0; - out_8807292285450126459[71] = 0.0; - out_8807292285450126459[72] = 0.0; - out_8807292285450126459[73] = 0.0; - out_8807292285450126459[74] = 0.0; - out_8807292285450126459[75] = 0.0; - out_8807292285450126459[76] = 0.0; - out_8807292285450126459[77] = 0.0; - out_8807292285450126459[78] = 0.0; - out_8807292285450126459[79] = 0.0; - out_8807292285450126459[80] = 1.0; +void H_mod_fun(double *state, double *out_1773647306661711299) { + out_1773647306661711299[0] = 1.0; + out_1773647306661711299[1] = 0.0; + out_1773647306661711299[2] = 0.0; + out_1773647306661711299[3] = 0.0; + out_1773647306661711299[4] = 0.0; + out_1773647306661711299[5] = 0.0; + out_1773647306661711299[6] = 0.0; + out_1773647306661711299[7] = 0.0; + out_1773647306661711299[8] = 0.0; + out_1773647306661711299[9] = 0.0; + out_1773647306661711299[10] = 1.0; + out_1773647306661711299[11] = 0.0; + out_1773647306661711299[12] = 0.0; + out_1773647306661711299[13] = 0.0; + out_1773647306661711299[14] = 0.0; + out_1773647306661711299[15] = 0.0; + out_1773647306661711299[16] = 0.0; + out_1773647306661711299[17] = 0.0; + out_1773647306661711299[18] = 0.0; + out_1773647306661711299[19] = 0.0; + out_1773647306661711299[20] = 1.0; + out_1773647306661711299[21] = 0.0; + out_1773647306661711299[22] = 0.0; + out_1773647306661711299[23] = 0.0; + out_1773647306661711299[24] = 0.0; + out_1773647306661711299[25] = 0.0; + out_1773647306661711299[26] = 0.0; + out_1773647306661711299[27] = 0.0; + out_1773647306661711299[28] = 0.0; + out_1773647306661711299[29] = 0.0; + out_1773647306661711299[30] = 1.0; + out_1773647306661711299[31] = 0.0; + out_1773647306661711299[32] = 0.0; + out_1773647306661711299[33] = 0.0; + out_1773647306661711299[34] = 0.0; + out_1773647306661711299[35] = 0.0; + out_1773647306661711299[36] = 0.0; + out_1773647306661711299[37] = 0.0; + out_1773647306661711299[38] = 0.0; + out_1773647306661711299[39] = 0.0; + out_1773647306661711299[40] = 1.0; + out_1773647306661711299[41] = 0.0; + out_1773647306661711299[42] = 0.0; + out_1773647306661711299[43] = 0.0; + out_1773647306661711299[44] = 0.0; + out_1773647306661711299[45] = 0.0; + out_1773647306661711299[46] = 0.0; + out_1773647306661711299[47] = 0.0; + out_1773647306661711299[48] = 0.0; + out_1773647306661711299[49] = 0.0; + out_1773647306661711299[50] = 1.0; + out_1773647306661711299[51] = 0.0; + out_1773647306661711299[52] = 0.0; + out_1773647306661711299[53] = 0.0; + out_1773647306661711299[54] = 0.0; + out_1773647306661711299[55] = 0.0; + out_1773647306661711299[56] = 0.0; + out_1773647306661711299[57] = 0.0; + out_1773647306661711299[58] = 0.0; + out_1773647306661711299[59] = 0.0; + out_1773647306661711299[60] = 1.0; + out_1773647306661711299[61] = 0.0; + out_1773647306661711299[62] = 0.0; + out_1773647306661711299[63] = 0.0; + out_1773647306661711299[64] = 0.0; + out_1773647306661711299[65] = 0.0; + out_1773647306661711299[66] = 0.0; + out_1773647306661711299[67] = 0.0; + out_1773647306661711299[68] = 0.0; + out_1773647306661711299[69] = 0.0; + out_1773647306661711299[70] = 1.0; + out_1773647306661711299[71] = 0.0; + out_1773647306661711299[72] = 0.0; + out_1773647306661711299[73] = 0.0; + out_1773647306661711299[74] = 0.0; + out_1773647306661711299[75] = 0.0; + out_1773647306661711299[76] = 0.0; + out_1773647306661711299[77] = 0.0; + out_1773647306661711299[78] = 0.0; + out_1773647306661711299[79] = 0.0; + out_1773647306661711299[80] = 1.0; } -void f_fun(double *state, double dt, double *out_547624329025478730) { - out_547624329025478730[0] = state[0]; - out_547624329025478730[1] = state[1]; - out_547624329025478730[2] = state[2]; - out_547624329025478730[3] = state[3]; - out_547624329025478730[4] = state[4]; - out_547624329025478730[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_547624329025478730[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_547624329025478730[7] = state[7]; - out_547624329025478730[8] = state[8]; +void f_fun(double *state, double dt, double *out_8265395554005205627) { + out_8265395554005205627[0] = state[0]; + out_8265395554005205627[1] = state[1]; + out_8265395554005205627[2] = state[2]; + out_8265395554005205627[3] = state[3]; + out_8265395554005205627[4] = state[4]; + out_8265395554005205627[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_8265395554005205627[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_8265395554005205627[7] = state[7]; + out_8265395554005205627[8] = state[8]; } -void F_fun(double *state, double dt, double *out_6298604141859123794) { - out_6298604141859123794[0] = 1; - out_6298604141859123794[1] = 0; - out_6298604141859123794[2] = 0; - out_6298604141859123794[3] = 0; - out_6298604141859123794[4] = 0; - out_6298604141859123794[5] = 0; - out_6298604141859123794[6] = 0; - out_6298604141859123794[7] = 0; - out_6298604141859123794[8] = 0; - out_6298604141859123794[9] = 0; - out_6298604141859123794[10] = 1; - out_6298604141859123794[11] = 0; - out_6298604141859123794[12] = 0; - out_6298604141859123794[13] = 0; - out_6298604141859123794[14] = 0; - out_6298604141859123794[15] = 0; - out_6298604141859123794[16] = 0; - out_6298604141859123794[17] = 0; - out_6298604141859123794[18] = 0; - out_6298604141859123794[19] = 0; - out_6298604141859123794[20] = 1; - out_6298604141859123794[21] = 0; - out_6298604141859123794[22] = 0; - out_6298604141859123794[23] = 0; - out_6298604141859123794[24] = 0; - out_6298604141859123794[25] = 0; - out_6298604141859123794[26] = 0; - out_6298604141859123794[27] = 0; - out_6298604141859123794[28] = 0; - out_6298604141859123794[29] = 0; - out_6298604141859123794[30] = 1; - out_6298604141859123794[31] = 0; - out_6298604141859123794[32] = 0; - out_6298604141859123794[33] = 0; - out_6298604141859123794[34] = 0; - out_6298604141859123794[35] = 0; - out_6298604141859123794[36] = 0; - out_6298604141859123794[37] = 0; - out_6298604141859123794[38] = 0; - out_6298604141859123794[39] = 0; - out_6298604141859123794[40] = 1; - out_6298604141859123794[41] = 0; - out_6298604141859123794[42] = 0; - out_6298604141859123794[43] = 0; - out_6298604141859123794[44] = 0; - out_6298604141859123794[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_6298604141859123794[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_6298604141859123794[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[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_6298604141859123794[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_6298604141859123794[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_6298604141859123794[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_6298604141859123794[53] = -9.8100000000000005*dt; - out_6298604141859123794[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_6298604141859123794[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_6298604141859123794[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[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_6298604141859123794[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_6298604141859123794[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_6298604141859123794[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_6298604141859123794[62] = 0; - out_6298604141859123794[63] = 0; - out_6298604141859123794[64] = 0; - out_6298604141859123794[65] = 0; - out_6298604141859123794[66] = 0; - out_6298604141859123794[67] = 0; - out_6298604141859123794[68] = 0; - out_6298604141859123794[69] = 0; - out_6298604141859123794[70] = 1; - out_6298604141859123794[71] = 0; - out_6298604141859123794[72] = 0; - out_6298604141859123794[73] = 0; - out_6298604141859123794[74] = 0; - out_6298604141859123794[75] = 0; - out_6298604141859123794[76] = 0; - out_6298604141859123794[77] = 0; - out_6298604141859123794[78] = 0; - out_6298604141859123794[79] = 0; - out_6298604141859123794[80] = 1; +void F_fun(double *state, double dt, double *out_5121501708015469294) { + out_5121501708015469294[0] = 1; + out_5121501708015469294[1] = 0; + out_5121501708015469294[2] = 0; + out_5121501708015469294[3] = 0; + out_5121501708015469294[4] = 0; + out_5121501708015469294[5] = 0; + out_5121501708015469294[6] = 0; + out_5121501708015469294[7] = 0; + out_5121501708015469294[8] = 0; + out_5121501708015469294[9] = 0; + out_5121501708015469294[10] = 1; + out_5121501708015469294[11] = 0; + out_5121501708015469294[12] = 0; + out_5121501708015469294[13] = 0; + out_5121501708015469294[14] = 0; + out_5121501708015469294[15] = 0; + out_5121501708015469294[16] = 0; + out_5121501708015469294[17] = 0; + out_5121501708015469294[18] = 0; + out_5121501708015469294[19] = 0; + out_5121501708015469294[20] = 1; + out_5121501708015469294[21] = 0; + out_5121501708015469294[22] = 0; + out_5121501708015469294[23] = 0; + out_5121501708015469294[24] = 0; + out_5121501708015469294[25] = 0; + out_5121501708015469294[26] = 0; + out_5121501708015469294[27] = 0; + out_5121501708015469294[28] = 0; + out_5121501708015469294[29] = 0; + out_5121501708015469294[30] = 1; + out_5121501708015469294[31] = 0; + out_5121501708015469294[32] = 0; + out_5121501708015469294[33] = 0; + out_5121501708015469294[34] = 0; + out_5121501708015469294[35] = 0; + out_5121501708015469294[36] = 0; + out_5121501708015469294[37] = 0; + out_5121501708015469294[38] = 0; + out_5121501708015469294[39] = 0; + out_5121501708015469294[40] = 1; + out_5121501708015469294[41] = 0; + out_5121501708015469294[42] = 0; + out_5121501708015469294[43] = 0; + out_5121501708015469294[44] = 0; + out_5121501708015469294[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_5121501708015469294[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5121501708015469294[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5121501708015469294[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5121501708015469294[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_5121501708015469294[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5121501708015469294[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5121501708015469294[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5121501708015469294[53] = -9.8100000000000005*dt; + out_5121501708015469294[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_5121501708015469294[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5121501708015469294[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5121501708015469294[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5121501708015469294[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_5121501708015469294[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5121501708015469294[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_5121501708015469294[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5121501708015469294[62] = 0; + out_5121501708015469294[63] = 0; + out_5121501708015469294[64] = 0; + out_5121501708015469294[65] = 0; + out_5121501708015469294[66] = 0; + out_5121501708015469294[67] = 0; + out_5121501708015469294[68] = 0; + out_5121501708015469294[69] = 0; + out_5121501708015469294[70] = 1; + out_5121501708015469294[71] = 0; + out_5121501708015469294[72] = 0; + out_5121501708015469294[73] = 0; + out_5121501708015469294[74] = 0; + out_5121501708015469294[75] = 0; + out_5121501708015469294[76] = 0; + out_5121501708015469294[77] = 0; + out_5121501708015469294[78] = 0; + out_5121501708015469294[79] = 0; + out_5121501708015469294[80] = 1; } -void h_25(double *state, double *unused, double *out_5598542368802412337) { - out_5598542368802412337[0] = state[6]; +void h_25(double *state, double *unused, double *out_1871114119926472838) { + out_1871114119926472838[0] = state[6]; } -void H_25(double *state, double *unused, double *out_446263562347187920) { - out_446263562347187920[0] = 0; - out_446263562347187920[1] = 0; - out_446263562347187920[2] = 0; - out_446263562347187920[3] = 0; - out_446263562347187920[4] = 0; - out_446263562347187920[5] = 0; - out_446263562347187920[6] = 1; - out_446263562347187920[7] = 0; - out_446263562347187920[8] = 0; +void H_25(double *state, double *unused, double *out_1749401331983653849) { + out_1749401331983653849[0] = 0; + out_1749401331983653849[1] = 0; + out_1749401331983653849[2] = 0; + out_1749401331983653849[3] = 0; + out_1749401331983653849[4] = 0; + out_1749401331983653849[5] = 0; + out_1749401331983653849[6] = 1; + out_1749401331983653849[7] = 0; + out_1749401331983653849[8] = 0; } -void h_24(double *state, double *unused, double *out_281619709901739940) { - out_281619709901739940[0] = state[4]; - out_281619709901739940[1] = state[5]; +void h_24(double *state, double *unused, double *out_4177328874243606255) { + out_4177328874243606255[0] = state[4]; + out_4177328874243606255[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4300245764619321114) { - out_4300245764619321114[0] = 0; - out_4300245764619321114[1] = 0; - out_4300245764619321114[2] = 0; - out_4300245764619321114[3] = 0; - out_4300245764619321114[4] = 1; - out_4300245764619321114[5] = 0; - out_4300245764619321114[6] = 0; - out_4300245764619321114[7] = 0; - out_4300245764619321114[8] = 0; - out_4300245764619321114[9] = 0; - out_4300245764619321114[10] = 0; - out_4300245764619321114[11] = 0; - out_4300245764619321114[12] = 0; - out_4300245764619321114[13] = 0; - out_4300245764619321114[14] = 1; - out_4300245764619321114[15] = 0; - out_4300245764619321114[16] = 0; - out_4300245764619321114[17] = 0; +void H_24(double *state, double *unused, double *out_1808524266818669287) { + out_1808524266818669287[0] = 0; + out_1808524266818669287[1] = 0; + out_1808524266818669287[2] = 0; + out_1808524266818669287[3] = 0; + out_1808524266818669287[4] = 1; + out_1808524266818669287[5] = 0; + out_1808524266818669287[6] = 0; + out_1808524266818669287[7] = 0; + out_1808524266818669287[8] = 0; + out_1808524266818669287[9] = 0; + out_1808524266818669287[10] = 0; + out_1808524266818669287[11] = 0; + out_1808524266818669287[12] = 0; + out_1808524266818669287[13] = 0; + out_1808524266818669287[14] = 1; + out_1808524266818669287[15] = 0; + out_1808524266818669287[16] = 0; + out_1808524266818669287[17] = 0; } -void h_30(double *state, double *unused, double *out_6077366478556788343) { - out_6077366478556788343[0] = state[4]; +void h_30(double *state, double *unused, double *out_6625546561337267154) { + out_6625546561337267154[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7362953903838804675) { - out_7362953903838804675[0] = 0; - out_7362953903838804675[1] = 0; - out_7362953903838804675[2] = 0; - out_7362953903838804675[3] = 0; - out_7362953903838804675[4] = 1; - out_7362953903838804675[5] = 0; - out_7362953903838804675[6] = 0; - out_7362953903838804675[7] = 0; - out_7362953903838804675[8] = 0; +void H_30(double *state, double *unused, double *out_5167289009507962906) { + out_5167289009507962906[0] = 0; + out_5167289009507962906[1] = 0; + out_5167289009507962906[2] = 0; + out_5167289009507962906[3] = 0; + out_5167289009507962906[4] = 1; + out_5167289009507962906[5] = 0; + out_5167289009507962906[6] = 0; + out_5167289009507962906[7] = 0; + out_5167289009507962906[8] = 0; } -void h_26(double *state, double *unused, double *out_714876495074943436) { - out_714876495074943436[0] = state[7]; +void h_26(double *state, double *unused, double *out_8545349699624827873) { + out_8545349699624827873[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3295239756526868304) { - out_3295239756526868304[0] = 0; - out_3295239756526868304[1] = 0; - out_3295239756526868304[2] = 0; - out_3295239756526868304[3] = 0; - out_3295239756526868304[4] = 0; - out_3295239756526868304[5] = 0; - out_3295239756526868304[6] = 0; - out_3295239756526868304[7] = 1; - out_3295239756526868304[8] = 0; +void H_26(double *state, double *unused, double *out_5490904650857710073) { + out_5490904650857710073[0] = 0; + out_5490904650857710073[1] = 0; + out_5490904650857710073[2] = 0; + out_5490904650857710073[3] = 0; + out_5490904650857710073[4] = 0; + out_5490904650857710073[5] = 0; + out_5490904650857710073[6] = 0; + out_5490904650857710073[7] = 1; + out_5490904650857710073[8] = 0; } -void h_27(double *state, double *unused, double *out_3197767095463584803) { - out_3197767095463584803[0] = state[3]; +void h_27(double *state, double *unused, double *out_3470753115959557725) { + out_3470753115959557725[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5188190592038379764) { - out_5188190592038379764[0] = 0; - out_5188190592038379764[1] = 0; - out_5188190592038379764[2] = 0; - out_5188190592038379764[3] = 1; - out_5188190592038379764[4] = 0; - out_5188190592038379764[5] = 0; - out_5188190592038379764[6] = 0; - out_5188190592038379764[7] = 0; - out_5188190592038379764[8] = 0; +void H_27(double *state, double *unused, double *out_2992525697707537995) { + out_2992525697707537995[0] = 0; + out_2992525697707537995[1] = 0; + out_2992525697707537995[2] = 0; + out_2992525697707537995[3] = 1; + out_2992525697707537995[4] = 0; + out_2992525697707537995[5] = 0; + out_2992525697707537995[6] = 0; + out_2992525697707537995[7] = 0; + out_2992525697707537995[8] = 0; } -void h_29(double *state, double *unused, double *out_9093529782405306684) { - out_9093529782405306684[0] = state[1]; +void h_29(double *state, double *unused, double *out_7569056414238929589) { + out_7569056414238929589[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7873185248153196859) { - out_7873185248153196859[0] = 0; - out_7873185248153196859[1] = 1; - out_7873185248153196859[2] = 0; - out_7873185248153196859[3] = 0; - out_7873185248153196859[4] = 0; - out_7873185248153196859[5] = 0; - out_7873185248153196859[6] = 0; - out_7873185248153196859[7] = 0; - out_7873185248153196859[8] = 0; +void H_29(double *state, double *unused, double *out_1279162970837986962) { + out_1279162970837986962[0] = 0; + out_1279162970837986962[1] = 1; + out_1279162970837986962[2] = 0; + out_1279162970837986962[3] = 0; + out_1279162970837986962[4] = 0; + out_1279162970837986962[5] = 0; + out_1279162970837986962[6] = 0; + out_1279162970837986962[7] = 0; + out_1279162970837986962[8] = 0; } -void h_28(double *state, double *unused, double *out_8199440363124430448) { - out_8199440363124430448[0] = state[0]; +void h_28(double *state, double *unused, double *out_6507539167403890410) { + out_6507539167403890410[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2790786231083666285) { - out_2790786231083666285[0] = 1; - out_2790786231083666285[1] = 0; - out_2790786231083666285[2] = 0; - out_2790786231083666285[3] = 0; - out_2790786231083666285[4] = 0; - out_2790786231083666285[5] = 0; - out_2790786231083666285[6] = 0; - out_2790786231083666285[7] = 0; - out_2790786231083666285[8] = 0; +void H_28(double *state, double *unused, double *out_3803236046231543612) { + out_3803236046231543612[0] = 1; + out_3803236046231543612[1] = 0; + out_3803236046231543612[2] = 0; + out_3803236046231543612[3] = 0; + out_3803236046231543612[4] = 0; + out_3803236046231543612[5] = 0; + out_3803236046231543612[6] = 0; + out_3803236046231543612[7] = 0; + out_3803236046231543612[8] = 0; } -void h_31(double *state, double *unused, double *out_5441355700451283192) { - out_5441355700451283192[0] = state[8]; +void h_31(double *state, double *unused, double *out_5594040852719868954) { + out_5594040852719868954[0] = state[8]; } -void H_31(double *state, double *unused, double *out_476909524224148348) { - out_476909524224148348[0] = 0; - out_476909524224148348[1] = 0; - out_476909524224148348[2] = 0; - out_476909524224148348[3] = 0; - out_476909524224148348[4] = 0; - out_476909524224148348[5] = 0; - out_476909524224148348[6] = 0; - out_476909524224148348[7] = 0; - out_476909524224148348[8] = 1; +void H_31(double *state, double *unused, double *out_1718755370106693421) { + out_1718755370106693421[0] = 0; + out_1718755370106693421[1] = 0; + out_1718755370106693421[2] = 0; + out_1718755370106693421[3] = 0; + out_1718755370106693421[4] = 0; + out_1718755370106693421[5] = 0; + out_1718755370106693421[6] = 0; + out_1718755370106693421[7] = 0; + out_1718755370106693421[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_2798728055434719104) { - err_fun(nom_x, delta_x, out_2798728055434719104); +void car_err_fun(double *nom_x, double *delta_x, double *out_3329877133651101623) { + err_fun(nom_x, delta_x, out_3329877133651101623); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { - inv_err_fun(nom_x, true_x, out_5158994837086933641); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987) { + inv_err_fun(nom_x, true_x, out_7760882190653564987); } -void car_H_mod_fun(double *state, double *out_8807292285450126459) { - H_mod_fun(state, out_8807292285450126459); +void car_H_mod_fun(double *state, double *out_1773647306661711299) { + H_mod_fun(state, out_1773647306661711299); } -void car_f_fun(double *state, double dt, double *out_547624329025478730) { - f_fun(state, dt, out_547624329025478730); +void car_f_fun(double *state, double dt, double *out_8265395554005205627) { + f_fun(state, dt, out_8265395554005205627); } -void car_F_fun(double *state, double dt, double *out_6298604141859123794) { - F_fun(state, dt, out_6298604141859123794); +void car_F_fun(double *state, double dt, double *out_5121501708015469294) { + F_fun(state, dt, out_5121501708015469294); } -void car_h_25(double *state, double *unused, double *out_5598542368802412337) { - h_25(state, unused, out_5598542368802412337); +void car_h_25(double *state, double *unused, double *out_1871114119926472838) { + h_25(state, unused, out_1871114119926472838); } -void car_H_25(double *state, double *unused, double *out_446263562347187920) { - H_25(state, unused, out_446263562347187920); +void car_H_25(double *state, double *unused, double *out_1749401331983653849) { + H_25(state, unused, out_1749401331983653849); } -void car_h_24(double *state, double *unused, double *out_281619709901739940) { - h_24(state, unused, out_281619709901739940); +void car_h_24(double *state, double *unused, double *out_4177328874243606255) { + h_24(state, unused, out_4177328874243606255); } -void car_H_24(double *state, double *unused, double *out_4300245764619321114) { - H_24(state, unused, out_4300245764619321114); +void car_H_24(double *state, double *unused, double *out_1808524266818669287) { + H_24(state, unused, out_1808524266818669287); } -void car_h_30(double *state, double *unused, double *out_6077366478556788343) { - h_30(state, unused, out_6077366478556788343); +void car_h_30(double *state, double *unused, double *out_6625546561337267154) { + h_30(state, unused, out_6625546561337267154); } -void car_H_30(double *state, double *unused, double *out_7362953903838804675) { - H_30(state, unused, out_7362953903838804675); +void car_H_30(double *state, double *unused, double *out_5167289009507962906) { + H_30(state, unused, out_5167289009507962906); } -void car_h_26(double *state, double *unused, double *out_714876495074943436) { - h_26(state, unused, out_714876495074943436); +void car_h_26(double *state, double *unused, double *out_8545349699624827873) { + h_26(state, unused, out_8545349699624827873); } -void car_H_26(double *state, double *unused, double *out_3295239756526868304) { - H_26(state, unused, out_3295239756526868304); +void car_H_26(double *state, double *unused, double *out_5490904650857710073) { + H_26(state, unused, out_5490904650857710073); } -void car_h_27(double *state, double *unused, double *out_3197767095463584803) { - h_27(state, unused, out_3197767095463584803); +void car_h_27(double *state, double *unused, double *out_3470753115959557725) { + h_27(state, unused, out_3470753115959557725); } -void car_H_27(double *state, double *unused, double *out_5188190592038379764) { - H_27(state, unused, out_5188190592038379764); +void car_H_27(double *state, double *unused, double *out_2992525697707537995) { + H_27(state, unused, out_2992525697707537995); } -void car_h_29(double *state, double *unused, double *out_9093529782405306684) { - h_29(state, unused, out_9093529782405306684); +void car_h_29(double *state, double *unused, double *out_7569056414238929589) { + h_29(state, unused, out_7569056414238929589); } -void car_H_29(double *state, double *unused, double *out_7873185248153196859) { - H_29(state, unused, out_7873185248153196859); +void car_H_29(double *state, double *unused, double *out_1279162970837986962) { + H_29(state, unused, out_1279162970837986962); } -void car_h_28(double *state, double *unused, double *out_8199440363124430448) { - h_28(state, unused, out_8199440363124430448); +void car_h_28(double *state, double *unused, double *out_6507539167403890410) { + h_28(state, unused, out_6507539167403890410); } -void car_H_28(double *state, double *unused, double *out_2790786231083666285) { - H_28(state, unused, out_2790786231083666285); +void car_H_28(double *state, double *unused, double *out_3803236046231543612) { + H_28(state, unused, out_3803236046231543612); } -void car_h_31(double *state, double *unused, double *out_5441355700451283192) { - h_31(state, unused, out_5441355700451283192); +void car_h_31(double *state, double *unused, double *out_5594040852719868954) { + h_31(state, unused, out_5594040852719868954); } -void car_H_31(double *state, double *unused, double *out_476909524224148348) { - H_31(state, unused, out_476909524224148348); +void car_H_31(double *state, double *unused, double *out_1718755370106693421) { + H_31(state, unused, out_1718755370106693421); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index f8b895142..5b9d4a4b7 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/selfdrive/locationd/models/generated/car.h @@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void car_err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641); -void car_H_mod_fun(double *state, double *out_8807292285450126459); -void car_f_fun(double *state, double dt, double *out_547624329025478730); -void car_F_fun(double *state, double dt, double *out_6298604141859123794); -void car_h_25(double *state, double *unused, double *out_5598542368802412337); -void car_H_25(double *state, double *unused, double *out_446263562347187920); -void car_h_24(double *state, double *unused, double *out_281619709901739940); -void car_H_24(double *state, double *unused, double *out_4300245764619321114); -void car_h_30(double *state, double *unused, double *out_6077366478556788343); -void car_H_30(double *state, double *unused, double *out_7362953903838804675); -void car_h_26(double *state, double *unused, double *out_714876495074943436); -void car_H_26(double *state, double *unused, double *out_3295239756526868304); -void car_h_27(double *state, double *unused, double *out_3197767095463584803); -void car_H_27(double *state, double *unused, double *out_5188190592038379764); -void car_h_29(double *state, double *unused, double *out_9093529782405306684); -void car_H_29(double *state, double *unused, double *out_7873185248153196859); -void car_h_28(double *state, double *unused, double *out_8199440363124430448); -void car_H_28(double *state, double *unused, double *out_2790786231083666285); -void car_h_31(double *state, double *unused, double *out_5441355700451283192); -void car_H_31(double *state, double *unused, double *out_476909524224148348); +void car_err_fun(double *nom_x, double *delta_x, double *out_3329877133651101623); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7760882190653564987); +void car_H_mod_fun(double *state, double *out_1773647306661711299); +void car_f_fun(double *state, double dt, double *out_8265395554005205627); +void car_F_fun(double *state, double dt, double *out_5121501708015469294); +void car_h_25(double *state, double *unused, double *out_1871114119926472838); +void car_H_25(double *state, double *unused, double *out_1749401331983653849); +void car_h_24(double *state, double *unused, double *out_4177328874243606255); +void car_H_24(double *state, double *unused, double *out_1808524266818669287); +void car_h_30(double *state, double *unused, double *out_6625546561337267154); +void car_H_30(double *state, double *unused, double *out_5167289009507962906); +void car_h_26(double *state, double *unused, double *out_8545349699624827873); +void car_H_26(double *state, double *unused, double *out_5490904650857710073); +void car_h_27(double *state, double *unused, double *out_3470753115959557725); +void car_H_27(double *state, double *unused, double *out_2992525697707537995); +void car_h_29(double *state, double *unused, double *out_7569056414238929589); +void car_H_29(double *state, double *unused, double *out_1279162970837986962); +void car_h_28(double *state, double *unused, double *out_6507539167403890410); +void car_H_28(double *state, double *unused, double *out_3803236046231543612); +void car_h_31(double *state, double *unused, double *out_5594040852719868954); +void car_H_31(double *state, double *unused, double *out_1718755370106693421); void car_predict(double *in_x, double *in_P, double *in_Q, double dt); void car_set_mass(double x); void car_set_rotational_inertia(double x); diff --git a/selfdrive/locationd/models/generated/pose.cpp b/selfdrive/locationd/models/generated/pose.cpp index 4f563d943..87bcfb442 100644 --- a/selfdrive/locationd/models/generated/pose.cpp +++ b/selfdrive/locationd/models/generated/pose.cpp @@ -17,961 +17,961 @@ const static double MAHA_THRESH_14 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818) { - out_8123935570106658818[0] = delta_x[0] + nom_x[0]; - out_8123935570106658818[1] = delta_x[1] + nom_x[1]; - out_8123935570106658818[2] = delta_x[2] + nom_x[2]; - out_8123935570106658818[3] = delta_x[3] + nom_x[3]; - out_8123935570106658818[4] = delta_x[4] + nom_x[4]; - out_8123935570106658818[5] = delta_x[5] + nom_x[5]; - out_8123935570106658818[6] = delta_x[6] + nom_x[6]; - out_8123935570106658818[7] = delta_x[7] + nom_x[7]; - out_8123935570106658818[8] = delta_x[8] + nom_x[8]; - out_8123935570106658818[9] = delta_x[9] + nom_x[9]; - out_8123935570106658818[10] = delta_x[10] + nom_x[10]; - out_8123935570106658818[11] = delta_x[11] + nom_x[11]; - out_8123935570106658818[12] = delta_x[12] + nom_x[12]; - out_8123935570106658818[13] = delta_x[13] + nom_x[13]; - out_8123935570106658818[14] = delta_x[14] + nom_x[14]; - out_8123935570106658818[15] = delta_x[15] + nom_x[15]; - out_8123935570106658818[16] = delta_x[16] + nom_x[16]; - out_8123935570106658818[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_2803054085873220166) { + out_2803054085873220166[0] = delta_x[0] + nom_x[0]; + out_2803054085873220166[1] = delta_x[1] + nom_x[1]; + out_2803054085873220166[2] = delta_x[2] + nom_x[2]; + out_2803054085873220166[3] = delta_x[3] + nom_x[3]; + out_2803054085873220166[4] = delta_x[4] + nom_x[4]; + out_2803054085873220166[5] = delta_x[5] + nom_x[5]; + out_2803054085873220166[6] = delta_x[6] + nom_x[6]; + out_2803054085873220166[7] = delta_x[7] + nom_x[7]; + out_2803054085873220166[8] = delta_x[8] + nom_x[8]; + out_2803054085873220166[9] = delta_x[9] + nom_x[9]; + out_2803054085873220166[10] = delta_x[10] + nom_x[10]; + out_2803054085873220166[11] = delta_x[11] + nom_x[11]; + out_2803054085873220166[12] = delta_x[12] + nom_x[12]; + out_2803054085873220166[13] = delta_x[13] + nom_x[13]; + out_2803054085873220166[14] = delta_x[14] + nom_x[14]; + out_2803054085873220166[15] = delta_x[15] + nom_x[15]; + out_2803054085873220166[16] = delta_x[16] + nom_x[16]; + out_2803054085873220166[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { - out_7916605304970807670[0] = -nom_x[0] + true_x[0]; - out_7916605304970807670[1] = -nom_x[1] + true_x[1]; - out_7916605304970807670[2] = -nom_x[2] + true_x[2]; - out_7916605304970807670[3] = -nom_x[3] + true_x[3]; - out_7916605304970807670[4] = -nom_x[4] + true_x[4]; - out_7916605304970807670[5] = -nom_x[5] + true_x[5]; - out_7916605304970807670[6] = -nom_x[6] + true_x[6]; - out_7916605304970807670[7] = -nom_x[7] + true_x[7]; - out_7916605304970807670[8] = -nom_x[8] + true_x[8]; - out_7916605304970807670[9] = -nom_x[9] + true_x[9]; - out_7916605304970807670[10] = -nom_x[10] + true_x[10]; - out_7916605304970807670[11] = -nom_x[11] + true_x[11]; - out_7916605304970807670[12] = -nom_x[12] + true_x[12]; - out_7916605304970807670[13] = -nom_x[13] + true_x[13]; - out_7916605304970807670[14] = -nom_x[14] + true_x[14]; - out_7916605304970807670[15] = -nom_x[15] + true_x[15]; - out_7916605304970807670[16] = -nom_x[16] + true_x[16]; - out_7916605304970807670[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { + out_870718263858356541[0] = -nom_x[0] + true_x[0]; + out_870718263858356541[1] = -nom_x[1] + true_x[1]; + out_870718263858356541[2] = -nom_x[2] + true_x[2]; + out_870718263858356541[3] = -nom_x[3] + true_x[3]; + out_870718263858356541[4] = -nom_x[4] + true_x[4]; + out_870718263858356541[5] = -nom_x[5] + true_x[5]; + out_870718263858356541[6] = -nom_x[6] + true_x[6]; + out_870718263858356541[7] = -nom_x[7] + true_x[7]; + out_870718263858356541[8] = -nom_x[8] + true_x[8]; + out_870718263858356541[9] = -nom_x[9] + true_x[9]; + out_870718263858356541[10] = -nom_x[10] + true_x[10]; + out_870718263858356541[11] = -nom_x[11] + true_x[11]; + out_870718263858356541[12] = -nom_x[12] + true_x[12]; + out_870718263858356541[13] = -nom_x[13] + true_x[13]; + out_870718263858356541[14] = -nom_x[14] + true_x[14]; + out_870718263858356541[15] = -nom_x[15] + true_x[15]; + out_870718263858356541[16] = -nom_x[16] + true_x[16]; + out_870718263858356541[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_1602815725505969341) { - out_1602815725505969341[0] = 1.0; - out_1602815725505969341[1] = 0.0; - out_1602815725505969341[2] = 0.0; - out_1602815725505969341[3] = 0.0; - out_1602815725505969341[4] = 0.0; - out_1602815725505969341[5] = 0.0; - out_1602815725505969341[6] = 0.0; - out_1602815725505969341[7] = 0.0; - out_1602815725505969341[8] = 0.0; - out_1602815725505969341[9] = 0.0; - out_1602815725505969341[10] = 0.0; - out_1602815725505969341[11] = 0.0; - out_1602815725505969341[12] = 0.0; - out_1602815725505969341[13] = 0.0; - out_1602815725505969341[14] = 0.0; - out_1602815725505969341[15] = 0.0; - out_1602815725505969341[16] = 0.0; - out_1602815725505969341[17] = 0.0; - out_1602815725505969341[18] = 0.0; - out_1602815725505969341[19] = 1.0; - out_1602815725505969341[20] = 0.0; - out_1602815725505969341[21] = 0.0; - out_1602815725505969341[22] = 0.0; - out_1602815725505969341[23] = 0.0; - out_1602815725505969341[24] = 0.0; - out_1602815725505969341[25] = 0.0; - out_1602815725505969341[26] = 0.0; - out_1602815725505969341[27] = 0.0; - out_1602815725505969341[28] = 0.0; - out_1602815725505969341[29] = 0.0; - out_1602815725505969341[30] = 0.0; - out_1602815725505969341[31] = 0.0; - out_1602815725505969341[32] = 0.0; - out_1602815725505969341[33] = 0.0; - out_1602815725505969341[34] = 0.0; - out_1602815725505969341[35] = 0.0; - out_1602815725505969341[36] = 0.0; - out_1602815725505969341[37] = 0.0; - out_1602815725505969341[38] = 1.0; - out_1602815725505969341[39] = 0.0; - out_1602815725505969341[40] = 0.0; - out_1602815725505969341[41] = 0.0; - out_1602815725505969341[42] = 0.0; - out_1602815725505969341[43] = 0.0; - out_1602815725505969341[44] = 0.0; - out_1602815725505969341[45] = 0.0; - out_1602815725505969341[46] = 0.0; - out_1602815725505969341[47] = 0.0; - out_1602815725505969341[48] = 0.0; - out_1602815725505969341[49] = 0.0; - out_1602815725505969341[50] = 0.0; - out_1602815725505969341[51] = 0.0; - out_1602815725505969341[52] = 0.0; - out_1602815725505969341[53] = 0.0; - out_1602815725505969341[54] = 0.0; - out_1602815725505969341[55] = 0.0; - out_1602815725505969341[56] = 0.0; - out_1602815725505969341[57] = 1.0; - out_1602815725505969341[58] = 0.0; - out_1602815725505969341[59] = 0.0; - out_1602815725505969341[60] = 0.0; - out_1602815725505969341[61] = 0.0; - out_1602815725505969341[62] = 0.0; - out_1602815725505969341[63] = 0.0; - out_1602815725505969341[64] = 0.0; - out_1602815725505969341[65] = 0.0; - out_1602815725505969341[66] = 0.0; - out_1602815725505969341[67] = 0.0; - out_1602815725505969341[68] = 0.0; - out_1602815725505969341[69] = 0.0; - out_1602815725505969341[70] = 0.0; - out_1602815725505969341[71] = 0.0; - out_1602815725505969341[72] = 0.0; - out_1602815725505969341[73] = 0.0; - out_1602815725505969341[74] = 0.0; - out_1602815725505969341[75] = 0.0; - out_1602815725505969341[76] = 1.0; - out_1602815725505969341[77] = 0.0; - out_1602815725505969341[78] = 0.0; - out_1602815725505969341[79] = 0.0; - out_1602815725505969341[80] = 0.0; - out_1602815725505969341[81] = 0.0; - out_1602815725505969341[82] = 0.0; - out_1602815725505969341[83] = 0.0; - out_1602815725505969341[84] = 0.0; - out_1602815725505969341[85] = 0.0; - out_1602815725505969341[86] = 0.0; - out_1602815725505969341[87] = 0.0; - out_1602815725505969341[88] = 0.0; - out_1602815725505969341[89] = 0.0; - out_1602815725505969341[90] = 0.0; - out_1602815725505969341[91] = 0.0; - out_1602815725505969341[92] = 0.0; - out_1602815725505969341[93] = 0.0; - out_1602815725505969341[94] = 0.0; - out_1602815725505969341[95] = 1.0; - out_1602815725505969341[96] = 0.0; - out_1602815725505969341[97] = 0.0; - out_1602815725505969341[98] = 0.0; - out_1602815725505969341[99] = 0.0; - out_1602815725505969341[100] = 0.0; - out_1602815725505969341[101] = 0.0; - out_1602815725505969341[102] = 0.0; - out_1602815725505969341[103] = 0.0; - out_1602815725505969341[104] = 0.0; - out_1602815725505969341[105] = 0.0; - out_1602815725505969341[106] = 0.0; - out_1602815725505969341[107] = 0.0; - out_1602815725505969341[108] = 0.0; - out_1602815725505969341[109] = 0.0; - out_1602815725505969341[110] = 0.0; - out_1602815725505969341[111] = 0.0; - out_1602815725505969341[112] = 0.0; - out_1602815725505969341[113] = 0.0; - out_1602815725505969341[114] = 1.0; - out_1602815725505969341[115] = 0.0; - out_1602815725505969341[116] = 0.0; - out_1602815725505969341[117] = 0.0; - out_1602815725505969341[118] = 0.0; - out_1602815725505969341[119] = 0.0; - out_1602815725505969341[120] = 0.0; - out_1602815725505969341[121] = 0.0; - out_1602815725505969341[122] = 0.0; - out_1602815725505969341[123] = 0.0; - out_1602815725505969341[124] = 0.0; - out_1602815725505969341[125] = 0.0; - out_1602815725505969341[126] = 0.0; - out_1602815725505969341[127] = 0.0; - out_1602815725505969341[128] = 0.0; - out_1602815725505969341[129] = 0.0; - out_1602815725505969341[130] = 0.0; - out_1602815725505969341[131] = 0.0; - out_1602815725505969341[132] = 0.0; - out_1602815725505969341[133] = 1.0; - out_1602815725505969341[134] = 0.0; - out_1602815725505969341[135] = 0.0; - out_1602815725505969341[136] = 0.0; - out_1602815725505969341[137] = 0.0; - out_1602815725505969341[138] = 0.0; - out_1602815725505969341[139] = 0.0; - out_1602815725505969341[140] = 0.0; - out_1602815725505969341[141] = 0.0; - out_1602815725505969341[142] = 0.0; - out_1602815725505969341[143] = 0.0; - out_1602815725505969341[144] = 0.0; - out_1602815725505969341[145] = 0.0; - out_1602815725505969341[146] = 0.0; - out_1602815725505969341[147] = 0.0; - out_1602815725505969341[148] = 0.0; - out_1602815725505969341[149] = 0.0; - out_1602815725505969341[150] = 0.0; - out_1602815725505969341[151] = 0.0; - out_1602815725505969341[152] = 1.0; - out_1602815725505969341[153] = 0.0; - out_1602815725505969341[154] = 0.0; - out_1602815725505969341[155] = 0.0; - out_1602815725505969341[156] = 0.0; - out_1602815725505969341[157] = 0.0; - out_1602815725505969341[158] = 0.0; - out_1602815725505969341[159] = 0.0; - out_1602815725505969341[160] = 0.0; - out_1602815725505969341[161] = 0.0; - out_1602815725505969341[162] = 0.0; - out_1602815725505969341[163] = 0.0; - out_1602815725505969341[164] = 0.0; - out_1602815725505969341[165] = 0.0; - out_1602815725505969341[166] = 0.0; - out_1602815725505969341[167] = 0.0; - out_1602815725505969341[168] = 0.0; - out_1602815725505969341[169] = 0.0; - out_1602815725505969341[170] = 0.0; - out_1602815725505969341[171] = 1.0; - out_1602815725505969341[172] = 0.0; - out_1602815725505969341[173] = 0.0; - out_1602815725505969341[174] = 0.0; - out_1602815725505969341[175] = 0.0; - out_1602815725505969341[176] = 0.0; - out_1602815725505969341[177] = 0.0; - out_1602815725505969341[178] = 0.0; - out_1602815725505969341[179] = 0.0; - out_1602815725505969341[180] = 0.0; - out_1602815725505969341[181] = 0.0; - out_1602815725505969341[182] = 0.0; - out_1602815725505969341[183] = 0.0; - out_1602815725505969341[184] = 0.0; - out_1602815725505969341[185] = 0.0; - out_1602815725505969341[186] = 0.0; - out_1602815725505969341[187] = 0.0; - out_1602815725505969341[188] = 0.0; - out_1602815725505969341[189] = 0.0; - out_1602815725505969341[190] = 1.0; - out_1602815725505969341[191] = 0.0; - out_1602815725505969341[192] = 0.0; - out_1602815725505969341[193] = 0.0; - out_1602815725505969341[194] = 0.0; - out_1602815725505969341[195] = 0.0; - out_1602815725505969341[196] = 0.0; - out_1602815725505969341[197] = 0.0; - out_1602815725505969341[198] = 0.0; - out_1602815725505969341[199] = 0.0; - out_1602815725505969341[200] = 0.0; - out_1602815725505969341[201] = 0.0; - out_1602815725505969341[202] = 0.0; - out_1602815725505969341[203] = 0.0; - out_1602815725505969341[204] = 0.0; - out_1602815725505969341[205] = 0.0; - out_1602815725505969341[206] = 0.0; - out_1602815725505969341[207] = 0.0; - out_1602815725505969341[208] = 0.0; - out_1602815725505969341[209] = 1.0; - out_1602815725505969341[210] = 0.0; - out_1602815725505969341[211] = 0.0; - out_1602815725505969341[212] = 0.0; - out_1602815725505969341[213] = 0.0; - out_1602815725505969341[214] = 0.0; - out_1602815725505969341[215] = 0.0; - out_1602815725505969341[216] = 0.0; - out_1602815725505969341[217] = 0.0; - out_1602815725505969341[218] = 0.0; - out_1602815725505969341[219] = 0.0; - out_1602815725505969341[220] = 0.0; - out_1602815725505969341[221] = 0.0; - out_1602815725505969341[222] = 0.0; - out_1602815725505969341[223] = 0.0; - out_1602815725505969341[224] = 0.0; - out_1602815725505969341[225] = 0.0; - out_1602815725505969341[226] = 0.0; - out_1602815725505969341[227] = 0.0; - out_1602815725505969341[228] = 1.0; - out_1602815725505969341[229] = 0.0; - out_1602815725505969341[230] = 0.0; - out_1602815725505969341[231] = 0.0; - out_1602815725505969341[232] = 0.0; - out_1602815725505969341[233] = 0.0; - out_1602815725505969341[234] = 0.0; - out_1602815725505969341[235] = 0.0; - out_1602815725505969341[236] = 0.0; - out_1602815725505969341[237] = 0.0; - out_1602815725505969341[238] = 0.0; - out_1602815725505969341[239] = 0.0; - out_1602815725505969341[240] = 0.0; - out_1602815725505969341[241] = 0.0; - out_1602815725505969341[242] = 0.0; - out_1602815725505969341[243] = 0.0; - out_1602815725505969341[244] = 0.0; - out_1602815725505969341[245] = 0.0; - out_1602815725505969341[246] = 0.0; - out_1602815725505969341[247] = 1.0; - out_1602815725505969341[248] = 0.0; - out_1602815725505969341[249] = 0.0; - out_1602815725505969341[250] = 0.0; - out_1602815725505969341[251] = 0.0; - out_1602815725505969341[252] = 0.0; - out_1602815725505969341[253] = 0.0; - out_1602815725505969341[254] = 0.0; - out_1602815725505969341[255] = 0.0; - out_1602815725505969341[256] = 0.0; - out_1602815725505969341[257] = 0.0; - out_1602815725505969341[258] = 0.0; - out_1602815725505969341[259] = 0.0; - out_1602815725505969341[260] = 0.0; - out_1602815725505969341[261] = 0.0; - out_1602815725505969341[262] = 0.0; - out_1602815725505969341[263] = 0.0; - out_1602815725505969341[264] = 0.0; - out_1602815725505969341[265] = 0.0; - out_1602815725505969341[266] = 1.0; - out_1602815725505969341[267] = 0.0; - out_1602815725505969341[268] = 0.0; - out_1602815725505969341[269] = 0.0; - out_1602815725505969341[270] = 0.0; - out_1602815725505969341[271] = 0.0; - out_1602815725505969341[272] = 0.0; - out_1602815725505969341[273] = 0.0; - out_1602815725505969341[274] = 0.0; - out_1602815725505969341[275] = 0.0; - out_1602815725505969341[276] = 0.0; - out_1602815725505969341[277] = 0.0; - out_1602815725505969341[278] = 0.0; - out_1602815725505969341[279] = 0.0; - out_1602815725505969341[280] = 0.0; - out_1602815725505969341[281] = 0.0; - out_1602815725505969341[282] = 0.0; - out_1602815725505969341[283] = 0.0; - out_1602815725505969341[284] = 0.0; - out_1602815725505969341[285] = 1.0; - out_1602815725505969341[286] = 0.0; - out_1602815725505969341[287] = 0.0; - out_1602815725505969341[288] = 0.0; - out_1602815725505969341[289] = 0.0; - out_1602815725505969341[290] = 0.0; - out_1602815725505969341[291] = 0.0; - out_1602815725505969341[292] = 0.0; - out_1602815725505969341[293] = 0.0; - out_1602815725505969341[294] = 0.0; - out_1602815725505969341[295] = 0.0; - out_1602815725505969341[296] = 0.0; - out_1602815725505969341[297] = 0.0; - out_1602815725505969341[298] = 0.0; - out_1602815725505969341[299] = 0.0; - out_1602815725505969341[300] = 0.0; - out_1602815725505969341[301] = 0.0; - out_1602815725505969341[302] = 0.0; - out_1602815725505969341[303] = 0.0; - out_1602815725505969341[304] = 1.0; - out_1602815725505969341[305] = 0.0; - out_1602815725505969341[306] = 0.0; - out_1602815725505969341[307] = 0.0; - out_1602815725505969341[308] = 0.0; - out_1602815725505969341[309] = 0.0; - out_1602815725505969341[310] = 0.0; - out_1602815725505969341[311] = 0.0; - out_1602815725505969341[312] = 0.0; - out_1602815725505969341[313] = 0.0; - out_1602815725505969341[314] = 0.0; - out_1602815725505969341[315] = 0.0; - out_1602815725505969341[316] = 0.0; - out_1602815725505969341[317] = 0.0; - out_1602815725505969341[318] = 0.0; - out_1602815725505969341[319] = 0.0; - out_1602815725505969341[320] = 0.0; - out_1602815725505969341[321] = 0.0; - out_1602815725505969341[322] = 0.0; - out_1602815725505969341[323] = 1.0; +void H_mod_fun(double *state, double *out_245560868528396178) { + out_245560868528396178[0] = 1.0; + out_245560868528396178[1] = 0.0; + out_245560868528396178[2] = 0.0; + out_245560868528396178[3] = 0.0; + out_245560868528396178[4] = 0.0; + out_245560868528396178[5] = 0.0; + out_245560868528396178[6] = 0.0; + out_245560868528396178[7] = 0.0; + out_245560868528396178[8] = 0.0; + out_245560868528396178[9] = 0.0; + out_245560868528396178[10] = 0.0; + out_245560868528396178[11] = 0.0; + out_245560868528396178[12] = 0.0; + out_245560868528396178[13] = 0.0; + out_245560868528396178[14] = 0.0; + out_245560868528396178[15] = 0.0; + out_245560868528396178[16] = 0.0; + out_245560868528396178[17] = 0.0; + out_245560868528396178[18] = 0.0; + out_245560868528396178[19] = 1.0; + out_245560868528396178[20] = 0.0; + out_245560868528396178[21] = 0.0; + out_245560868528396178[22] = 0.0; + out_245560868528396178[23] = 0.0; + out_245560868528396178[24] = 0.0; + out_245560868528396178[25] = 0.0; + out_245560868528396178[26] = 0.0; + out_245560868528396178[27] = 0.0; + out_245560868528396178[28] = 0.0; + out_245560868528396178[29] = 0.0; + out_245560868528396178[30] = 0.0; + out_245560868528396178[31] = 0.0; + out_245560868528396178[32] = 0.0; + out_245560868528396178[33] = 0.0; + out_245560868528396178[34] = 0.0; + out_245560868528396178[35] = 0.0; + out_245560868528396178[36] = 0.0; + out_245560868528396178[37] = 0.0; + out_245560868528396178[38] = 1.0; + out_245560868528396178[39] = 0.0; + out_245560868528396178[40] = 0.0; + out_245560868528396178[41] = 0.0; + out_245560868528396178[42] = 0.0; + out_245560868528396178[43] = 0.0; + out_245560868528396178[44] = 0.0; + out_245560868528396178[45] = 0.0; + out_245560868528396178[46] = 0.0; + out_245560868528396178[47] = 0.0; + out_245560868528396178[48] = 0.0; + out_245560868528396178[49] = 0.0; + out_245560868528396178[50] = 0.0; + out_245560868528396178[51] = 0.0; + out_245560868528396178[52] = 0.0; + out_245560868528396178[53] = 0.0; + out_245560868528396178[54] = 0.0; + out_245560868528396178[55] = 0.0; + out_245560868528396178[56] = 0.0; + out_245560868528396178[57] = 1.0; + out_245560868528396178[58] = 0.0; + out_245560868528396178[59] = 0.0; + out_245560868528396178[60] = 0.0; + out_245560868528396178[61] = 0.0; + out_245560868528396178[62] = 0.0; + out_245560868528396178[63] = 0.0; + out_245560868528396178[64] = 0.0; + out_245560868528396178[65] = 0.0; + out_245560868528396178[66] = 0.0; + out_245560868528396178[67] = 0.0; + out_245560868528396178[68] = 0.0; + out_245560868528396178[69] = 0.0; + out_245560868528396178[70] = 0.0; + out_245560868528396178[71] = 0.0; + out_245560868528396178[72] = 0.0; + out_245560868528396178[73] = 0.0; + out_245560868528396178[74] = 0.0; + out_245560868528396178[75] = 0.0; + out_245560868528396178[76] = 1.0; + out_245560868528396178[77] = 0.0; + out_245560868528396178[78] = 0.0; + out_245560868528396178[79] = 0.0; + out_245560868528396178[80] = 0.0; + out_245560868528396178[81] = 0.0; + out_245560868528396178[82] = 0.0; + out_245560868528396178[83] = 0.0; + out_245560868528396178[84] = 0.0; + out_245560868528396178[85] = 0.0; + out_245560868528396178[86] = 0.0; + out_245560868528396178[87] = 0.0; + out_245560868528396178[88] = 0.0; + out_245560868528396178[89] = 0.0; + out_245560868528396178[90] = 0.0; + out_245560868528396178[91] = 0.0; + out_245560868528396178[92] = 0.0; + out_245560868528396178[93] = 0.0; + out_245560868528396178[94] = 0.0; + out_245560868528396178[95] = 1.0; + out_245560868528396178[96] = 0.0; + out_245560868528396178[97] = 0.0; + out_245560868528396178[98] = 0.0; + out_245560868528396178[99] = 0.0; + out_245560868528396178[100] = 0.0; + out_245560868528396178[101] = 0.0; + out_245560868528396178[102] = 0.0; + out_245560868528396178[103] = 0.0; + out_245560868528396178[104] = 0.0; + out_245560868528396178[105] = 0.0; + out_245560868528396178[106] = 0.0; + out_245560868528396178[107] = 0.0; + out_245560868528396178[108] = 0.0; + out_245560868528396178[109] = 0.0; + out_245560868528396178[110] = 0.0; + out_245560868528396178[111] = 0.0; + out_245560868528396178[112] = 0.0; + out_245560868528396178[113] = 0.0; + out_245560868528396178[114] = 1.0; + out_245560868528396178[115] = 0.0; + out_245560868528396178[116] = 0.0; + out_245560868528396178[117] = 0.0; + out_245560868528396178[118] = 0.0; + out_245560868528396178[119] = 0.0; + out_245560868528396178[120] = 0.0; + out_245560868528396178[121] = 0.0; + out_245560868528396178[122] = 0.0; + out_245560868528396178[123] = 0.0; + out_245560868528396178[124] = 0.0; + out_245560868528396178[125] = 0.0; + out_245560868528396178[126] = 0.0; + out_245560868528396178[127] = 0.0; + out_245560868528396178[128] = 0.0; + out_245560868528396178[129] = 0.0; + out_245560868528396178[130] = 0.0; + out_245560868528396178[131] = 0.0; + out_245560868528396178[132] = 0.0; + out_245560868528396178[133] = 1.0; + out_245560868528396178[134] = 0.0; + out_245560868528396178[135] = 0.0; + out_245560868528396178[136] = 0.0; + out_245560868528396178[137] = 0.0; + out_245560868528396178[138] = 0.0; + out_245560868528396178[139] = 0.0; + out_245560868528396178[140] = 0.0; + out_245560868528396178[141] = 0.0; + out_245560868528396178[142] = 0.0; + out_245560868528396178[143] = 0.0; + out_245560868528396178[144] = 0.0; + out_245560868528396178[145] = 0.0; + out_245560868528396178[146] = 0.0; + out_245560868528396178[147] = 0.0; + out_245560868528396178[148] = 0.0; + out_245560868528396178[149] = 0.0; + out_245560868528396178[150] = 0.0; + out_245560868528396178[151] = 0.0; + out_245560868528396178[152] = 1.0; + out_245560868528396178[153] = 0.0; + out_245560868528396178[154] = 0.0; + out_245560868528396178[155] = 0.0; + out_245560868528396178[156] = 0.0; + out_245560868528396178[157] = 0.0; + out_245560868528396178[158] = 0.0; + out_245560868528396178[159] = 0.0; + out_245560868528396178[160] = 0.0; + out_245560868528396178[161] = 0.0; + out_245560868528396178[162] = 0.0; + out_245560868528396178[163] = 0.0; + out_245560868528396178[164] = 0.0; + out_245560868528396178[165] = 0.0; + out_245560868528396178[166] = 0.0; + out_245560868528396178[167] = 0.0; + out_245560868528396178[168] = 0.0; + out_245560868528396178[169] = 0.0; + out_245560868528396178[170] = 0.0; + out_245560868528396178[171] = 1.0; + out_245560868528396178[172] = 0.0; + out_245560868528396178[173] = 0.0; + out_245560868528396178[174] = 0.0; + out_245560868528396178[175] = 0.0; + out_245560868528396178[176] = 0.0; + out_245560868528396178[177] = 0.0; + out_245560868528396178[178] = 0.0; + out_245560868528396178[179] = 0.0; + out_245560868528396178[180] = 0.0; + out_245560868528396178[181] = 0.0; + out_245560868528396178[182] = 0.0; + out_245560868528396178[183] = 0.0; + out_245560868528396178[184] = 0.0; + out_245560868528396178[185] = 0.0; + out_245560868528396178[186] = 0.0; + out_245560868528396178[187] = 0.0; + out_245560868528396178[188] = 0.0; + out_245560868528396178[189] = 0.0; + out_245560868528396178[190] = 1.0; + out_245560868528396178[191] = 0.0; + out_245560868528396178[192] = 0.0; + out_245560868528396178[193] = 0.0; + out_245560868528396178[194] = 0.0; + out_245560868528396178[195] = 0.0; + out_245560868528396178[196] = 0.0; + out_245560868528396178[197] = 0.0; + out_245560868528396178[198] = 0.0; + out_245560868528396178[199] = 0.0; + out_245560868528396178[200] = 0.0; + out_245560868528396178[201] = 0.0; + out_245560868528396178[202] = 0.0; + out_245560868528396178[203] = 0.0; + out_245560868528396178[204] = 0.0; + out_245560868528396178[205] = 0.0; + out_245560868528396178[206] = 0.0; + out_245560868528396178[207] = 0.0; + out_245560868528396178[208] = 0.0; + out_245560868528396178[209] = 1.0; + out_245560868528396178[210] = 0.0; + out_245560868528396178[211] = 0.0; + out_245560868528396178[212] = 0.0; + out_245560868528396178[213] = 0.0; + out_245560868528396178[214] = 0.0; + out_245560868528396178[215] = 0.0; + out_245560868528396178[216] = 0.0; + out_245560868528396178[217] = 0.0; + out_245560868528396178[218] = 0.0; + out_245560868528396178[219] = 0.0; + out_245560868528396178[220] = 0.0; + out_245560868528396178[221] = 0.0; + out_245560868528396178[222] = 0.0; + out_245560868528396178[223] = 0.0; + out_245560868528396178[224] = 0.0; + out_245560868528396178[225] = 0.0; + out_245560868528396178[226] = 0.0; + out_245560868528396178[227] = 0.0; + out_245560868528396178[228] = 1.0; + out_245560868528396178[229] = 0.0; + out_245560868528396178[230] = 0.0; + out_245560868528396178[231] = 0.0; + out_245560868528396178[232] = 0.0; + out_245560868528396178[233] = 0.0; + out_245560868528396178[234] = 0.0; + out_245560868528396178[235] = 0.0; + out_245560868528396178[236] = 0.0; + out_245560868528396178[237] = 0.0; + out_245560868528396178[238] = 0.0; + out_245560868528396178[239] = 0.0; + out_245560868528396178[240] = 0.0; + out_245560868528396178[241] = 0.0; + out_245560868528396178[242] = 0.0; + out_245560868528396178[243] = 0.0; + out_245560868528396178[244] = 0.0; + out_245560868528396178[245] = 0.0; + out_245560868528396178[246] = 0.0; + out_245560868528396178[247] = 1.0; + out_245560868528396178[248] = 0.0; + out_245560868528396178[249] = 0.0; + out_245560868528396178[250] = 0.0; + out_245560868528396178[251] = 0.0; + out_245560868528396178[252] = 0.0; + out_245560868528396178[253] = 0.0; + out_245560868528396178[254] = 0.0; + out_245560868528396178[255] = 0.0; + out_245560868528396178[256] = 0.0; + out_245560868528396178[257] = 0.0; + out_245560868528396178[258] = 0.0; + out_245560868528396178[259] = 0.0; + out_245560868528396178[260] = 0.0; + out_245560868528396178[261] = 0.0; + out_245560868528396178[262] = 0.0; + out_245560868528396178[263] = 0.0; + out_245560868528396178[264] = 0.0; + out_245560868528396178[265] = 0.0; + out_245560868528396178[266] = 1.0; + out_245560868528396178[267] = 0.0; + out_245560868528396178[268] = 0.0; + out_245560868528396178[269] = 0.0; + out_245560868528396178[270] = 0.0; + out_245560868528396178[271] = 0.0; + out_245560868528396178[272] = 0.0; + out_245560868528396178[273] = 0.0; + out_245560868528396178[274] = 0.0; + out_245560868528396178[275] = 0.0; + out_245560868528396178[276] = 0.0; + out_245560868528396178[277] = 0.0; + out_245560868528396178[278] = 0.0; + out_245560868528396178[279] = 0.0; + out_245560868528396178[280] = 0.0; + out_245560868528396178[281] = 0.0; + out_245560868528396178[282] = 0.0; + out_245560868528396178[283] = 0.0; + out_245560868528396178[284] = 0.0; + out_245560868528396178[285] = 1.0; + out_245560868528396178[286] = 0.0; + out_245560868528396178[287] = 0.0; + out_245560868528396178[288] = 0.0; + out_245560868528396178[289] = 0.0; + out_245560868528396178[290] = 0.0; + out_245560868528396178[291] = 0.0; + out_245560868528396178[292] = 0.0; + out_245560868528396178[293] = 0.0; + out_245560868528396178[294] = 0.0; + out_245560868528396178[295] = 0.0; + out_245560868528396178[296] = 0.0; + out_245560868528396178[297] = 0.0; + out_245560868528396178[298] = 0.0; + out_245560868528396178[299] = 0.0; + out_245560868528396178[300] = 0.0; + out_245560868528396178[301] = 0.0; + out_245560868528396178[302] = 0.0; + out_245560868528396178[303] = 0.0; + out_245560868528396178[304] = 1.0; + out_245560868528396178[305] = 0.0; + out_245560868528396178[306] = 0.0; + out_245560868528396178[307] = 0.0; + out_245560868528396178[308] = 0.0; + out_245560868528396178[309] = 0.0; + out_245560868528396178[310] = 0.0; + out_245560868528396178[311] = 0.0; + out_245560868528396178[312] = 0.0; + out_245560868528396178[313] = 0.0; + out_245560868528396178[314] = 0.0; + out_245560868528396178[315] = 0.0; + out_245560868528396178[316] = 0.0; + out_245560868528396178[317] = 0.0; + out_245560868528396178[318] = 0.0; + out_245560868528396178[319] = 0.0; + out_245560868528396178[320] = 0.0; + out_245560868528396178[321] = 0.0; + out_245560868528396178[322] = 0.0; + out_245560868528396178[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6941148323357631663) { - out_6941148323357631663[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_6941148323357631663[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_6941148323357631663[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_6941148323357631663[3] = dt*state[12] + state[3]; - out_6941148323357631663[4] = dt*state[13] + state[4]; - out_6941148323357631663[5] = dt*state[14] + state[5]; - out_6941148323357631663[6] = state[6]; - out_6941148323357631663[7] = state[7]; - out_6941148323357631663[8] = state[8]; - out_6941148323357631663[9] = state[9]; - out_6941148323357631663[10] = state[10]; - out_6941148323357631663[11] = state[11]; - out_6941148323357631663[12] = state[12]; - out_6941148323357631663[13] = state[13]; - out_6941148323357631663[14] = state[14]; - out_6941148323357631663[15] = state[15]; - out_6941148323357631663[16] = state[16]; - out_6941148323357631663[17] = state[17]; +void f_fun(double *state, double dt, double *out_8465405656783528291) { + out_8465405656783528291[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_8465405656783528291[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_8465405656783528291[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_8465405656783528291[3] = dt*state[12] + state[3]; + out_8465405656783528291[4] = dt*state[13] + state[4]; + out_8465405656783528291[5] = dt*state[14] + state[5]; + out_8465405656783528291[6] = state[6]; + out_8465405656783528291[7] = state[7]; + out_8465405656783528291[8] = state[8]; + out_8465405656783528291[9] = state[9]; + out_8465405656783528291[10] = state[10]; + out_8465405656783528291[11] = state[11]; + out_8465405656783528291[12] = state[12]; + out_8465405656783528291[13] = state[13]; + out_8465405656783528291[14] = state[14]; + out_8465405656783528291[15] = state[15]; + out_8465405656783528291[16] = state[16]; + out_8465405656783528291[17] = state[17]; } -void F_fun(double *state, double dt, double *out_8174317485626071951) { - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[2] = 0; - out_8174317485626071951[3] = 0; - out_8174317485626071951[4] = 0; - out_8174317485626071951[5] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[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_8174317485626071951[9] = 0; - out_8174317485626071951[10] = 0; - out_8174317485626071951[11] = 0; - out_8174317485626071951[12] = 0; - out_8174317485626071951[13] = 0; - out_8174317485626071951[14] = 0; - out_8174317485626071951[15] = 0; - out_8174317485626071951[16] = 0; - out_8174317485626071951[17] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[20] = 0; - out_8174317485626071951[21] = 0; - out_8174317485626071951[22] = 0; - out_8174317485626071951[23] = 0; - out_8174317485626071951[24] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[27] = 0; - out_8174317485626071951[28] = 0; - out_8174317485626071951[29] = 0; - out_8174317485626071951[30] = 0; - out_8174317485626071951[31] = 0; - out_8174317485626071951[32] = 0; - out_8174317485626071951[33] = 0; - out_8174317485626071951[34] = 0; - out_8174317485626071951[35] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[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_8174317485626071951[39] = 0; - out_8174317485626071951[40] = 0; - out_8174317485626071951[41] = 0; - out_8174317485626071951[42] = 0; - out_8174317485626071951[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_8174317485626071951[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_8174317485626071951[45] = 0; - out_8174317485626071951[46] = 0; - out_8174317485626071951[47] = 0; - out_8174317485626071951[48] = 0; - out_8174317485626071951[49] = 0; - out_8174317485626071951[50] = 0; - out_8174317485626071951[51] = 0; - out_8174317485626071951[52] = 0; - out_8174317485626071951[53] = 0; - out_8174317485626071951[54] = 0; - out_8174317485626071951[55] = 0; - out_8174317485626071951[56] = 0; - out_8174317485626071951[57] = 1; - out_8174317485626071951[58] = 0; - out_8174317485626071951[59] = 0; - out_8174317485626071951[60] = 0; - out_8174317485626071951[61] = 0; - out_8174317485626071951[62] = 0; - out_8174317485626071951[63] = 0; - out_8174317485626071951[64] = 0; - out_8174317485626071951[65] = 0; - out_8174317485626071951[66] = dt; - out_8174317485626071951[67] = 0; - out_8174317485626071951[68] = 0; - out_8174317485626071951[69] = 0; - out_8174317485626071951[70] = 0; - out_8174317485626071951[71] = 0; - out_8174317485626071951[72] = 0; - out_8174317485626071951[73] = 0; - out_8174317485626071951[74] = 0; - out_8174317485626071951[75] = 0; - out_8174317485626071951[76] = 1; - out_8174317485626071951[77] = 0; - out_8174317485626071951[78] = 0; - out_8174317485626071951[79] = 0; - out_8174317485626071951[80] = 0; - out_8174317485626071951[81] = 0; - out_8174317485626071951[82] = 0; - out_8174317485626071951[83] = 0; - out_8174317485626071951[84] = 0; - out_8174317485626071951[85] = dt; - out_8174317485626071951[86] = 0; - out_8174317485626071951[87] = 0; - out_8174317485626071951[88] = 0; - out_8174317485626071951[89] = 0; - out_8174317485626071951[90] = 0; - out_8174317485626071951[91] = 0; - out_8174317485626071951[92] = 0; - out_8174317485626071951[93] = 0; - out_8174317485626071951[94] = 0; - out_8174317485626071951[95] = 1; - out_8174317485626071951[96] = 0; - out_8174317485626071951[97] = 0; - out_8174317485626071951[98] = 0; - out_8174317485626071951[99] = 0; - out_8174317485626071951[100] = 0; - out_8174317485626071951[101] = 0; - out_8174317485626071951[102] = 0; - out_8174317485626071951[103] = 0; - out_8174317485626071951[104] = dt; - out_8174317485626071951[105] = 0; - out_8174317485626071951[106] = 0; - out_8174317485626071951[107] = 0; - out_8174317485626071951[108] = 0; - out_8174317485626071951[109] = 0; - out_8174317485626071951[110] = 0; - out_8174317485626071951[111] = 0; - out_8174317485626071951[112] = 0; - out_8174317485626071951[113] = 0; - out_8174317485626071951[114] = 1; - out_8174317485626071951[115] = 0; - out_8174317485626071951[116] = 0; - out_8174317485626071951[117] = 0; - out_8174317485626071951[118] = 0; - out_8174317485626071951[119] = 0; - out_8174317485626071951[120] = 0; - out_8174317485626071951[121] = 0; - out_8174317485626071951[122] = 0; - out_8174317485626071951[123] = 0; - out_8174317485626071951[124] = 0; - out_8174317485626071951[125] = 0; - out_8174317485626071951[126] = 0; - out_8174317485626071951[127] = 0; - out_8174317485626071951[128] = 0; - out_8174317485626071951[129] = 0; - out_8174317485626071951[130] = 0; - out_8174317485626071951[131] = 0; - out_8174317485626071951[132] = 0; - out_8174317485626071951[133] = 1; - out_8174317485626071951[134] = 0; - out_8174317485626071951[135] = 0; - out_8174317485626071951[136] = 0; - out_8174317485626071951[137] = 0; - out_8174317485626071951[138] = 0; - out_8174317485626071951[139] = 0; - out_8174317485626071951[140] = 0; - out_8174317485626071951[141] = 0; - out_8174317485626071951[142] = 0; - out_8174317485626071951[143] = 0; - out_8174317485626071951[144] = 0; - out_8174317485626071951[145] = 0; - out_8174317485626071951[146] = 0; - out_8174317485626071951[147] = 0; - out_8174317485626071951[148] = 0; - out_8174317485626071951[149] = 0; - out_8174317485626071951[150] = 0; - out_8174317485626071951[151] = 0; - out_8174317485626071951[152] = 1; - out_8174317485626071951[153] = 0; - out_8174317485626071951[154] = 0; - out_8174317485626071951[155] = 0; - out_8174317485626071951[156] = 0; - out_8174317485626071951[157] = 0; - out_8174317485626071951[158] = 0; - out_8174317485626071951[159] = 0; - out_8174317485626071951[160] = 0; - out_8174317485626071951[161] = 0; - out_8174317485626071951[162] = 0; - out_8174317485626071951[163] = 0; - out_8174317485626071951[164] = 0; - out_8174317485626071951[165] = 0; - out_8174317485626071951[166] = 0; - out_8174317485626071951[167] = 0; - out_8174317485626071951[168] = 0; - out_8174317485626071951[169] = 0; - out_8174317485626071951[170] = 0; - out_8174317485626071951[171] = 1; - out_8174317485626071951[172] = 0; - out_8174317485626071951[173] = 0; - out_8174317485626071951[174] = 0; - out_8174317485626071951[175] = 0; - out_8174317485626071951[176] = 0; - out_8174317485626071951[177] = 0; - out_8174317485626071951[178] = 0; - out_8174317485626071951[179] = 0; - out_8174317485626071951[180] = 0; - out_8174317485626071951[181] = 0; - out_8174317485626071951[182] = 0; - out_8174317485626071951[183] = 0; - out_8174317485626071951[184] = 0; - out_8174317485626071951[185] = 0; - out_8174317485626071951[186] = 0; - out_8174317485626071951[187] = 0; - out_8174317485626071951[188] = 0; - out_8174317485626071951[189] = 0; - out_8174317485626071951[190] = 1; - out_8174317485626071951[191] = 0; - out_8174317485626071951[192] = 0; - out_8174317485626071951[193] = 0; - out_8174317485626071951[194] = 0; - out_8174317485626071951[195] = 0; - out_8174317485626071951[196] = 0; - out_8174317485626071951[197] = 0; - out_8174317485626071951[198] = 0; - out_8174317485626071951[199] = 0; - out_8174317485626071951[200] = 0; - out_8174317485626071951[201] = 0; - out_8174317485626071951[202] = 0; - out_8174317485626071951[203] = 0; - out_8174317485626071951[204] = 0; - out_8174317485626071951[205] = 0; - out_8174317485626071951[206] = 0; - out_8174317485626071951[207] = 0; - out_8174317485626071951[208] = 0; - out_8174317485626071951[209] = 1; - out_8174317485626071951[210] = 0; - out_8174317485626071951[211] = 0; - out_8174317485626071951[212] = 0; - out_8174317485626071951[213] = 0; - out_8174317485626071951[214] = 0; - out_8174317485626071951[215] = 0; - out_8174317485626071951[216] = 0; - out_8174317485626071951[217] = 0; - out_8174317485626071951[218] = 0; - out_8174317485626071951[219] = 0; - out_8174317485626071951[220] = 0; - out_8174317485626071951[221] = 0; - out_8174317485626071951[222] = 0; - out_8174317485626071951[223] = 0; - out_8174317485626071951[224] = 0; - out_8174317485626071951[225] = 0; - out_8174317485626071951[226] = 0; - out_8174317485626071951[227] = 0; - out_8174317485626071951[228] = 1; - out_8174317485626071951[229] = 0; - out_8174317485626071951[230] = 0; - out_8174317485626071951[231] = 0; - out_8174317485626071951[232] = 0; - out_8174317485626071951[233] = 0; - out_8174317485626071951[234] = 0; - out_8174317485626071951[235] = 0; - out_8174317485626071951[236] = 0; - out_8174317485626071951[237] = 0; - out_8174317485626071951[238] = 0; - out_8174317485626071951[239] = 0; - out_8174317485626071951[240] = 0; - out_8174317485626071951[241] = 0; - out_8174317485626071951[242] = 0; - out_8174317485626071951[243] = 0; - out_8174317485626071951[244] = 0; - out_8174317485626071951[245] = 0; - out_8174317485626071951[246] = 0; - out_8174317485626071951[247] = 1; - out_8174317485626071951[248] = 0; - out_8174317485626071951[249] = 0; - out_8174317485626071951[250] = 0; - out_8174317485626071951[251] = 0; - out_8174317485626071951[252] = 0; - out_8174317485626071951[253] = 0; - out_8174317485626071951[254] = 0; - out_8174317485626071951[255] = 0; - out_8174317485626071951[256] = 0; - out_8174317485626071951[257] = 0; - out_8174317485626071951[258] = 0; - out_8174317485626071951[259] = 0; - out_8174317485626071951[260] = 0; - out_8174317485626071951[261] = 0; - out_8174317485626071951[262] = 0; - out_8174317485626071951[263] = 0; - out_8174317485626071951[264] = 0; - out_8174317485626071951[265] = 0; - out_8174317485626071951[266] = 1; - out_8174317485626071951[267] = 0; - out_8174317485626071951[268] = 0; - out_8174317485626071951[269] = 0; - out_8174317485626071951[270] = 0; - out_8174317485626071951[271] = 0; - out_8174317485626071951[272] = 0; - out_8174317485626071951[273] = 0; - out_8174317485626071951[274] = 0; - out_8174317485626071951[275] = 0; - out_8174317485626071951[276] = 0; - out_8174317485626071951[277] = 0; - out_8174317485626071951[278] = 0; - out_8174317485626071951[279] = 0; - out_8174317485626071951[280] = 0; - out_8174317485626071951[281] = 0; - out_8174317485626071951[282] = 0; - out_8174317485626071951[283] = 0; - out_8174317485626071951[284] = 0; - out_8174317485626071951[285] = 1; - out_8174317485626071951[286] = 0; - out_8174317485626071951[287] = 0; - out_8174317485626071951[288] = 0; - out_8174317485626071951[289] = 0; - out_8174317485626071951[290] = 0; - out_8174317485626071951[291] = 0; - out_8174317485626071951[292] = 0; - out_8174317485626071951[293] = 0; - out_8174317485626071951[294] = 0; - out_8174317485626071951[295] = 0; - out_8174317485626071951[296] = 0; - out_8174317485626071951[297] = 0; - out_8174317485626071951[298] = 0; - out_8174317485626071951[299] = 0; - out_8174317485626071951[300] = 0; - out_8174317485626071951[301] = 0; - out_8174317485626071951[302] = 0; - out_8174317485626071951[303] = 0; - out_8174317485626071951[304] = 1; - out_8174317485626071951[305] = 0; - out_8174317485626071951[306] = 0; - out_8174317485626071951[307] = 0; - out_8174317485626071951[308] = 0; - out_8174317485626071951[309] = 0; - out_8174317485626071951[310] = 0; - out_8174317485626071951[311] = 0; - out_8174317485626071951[312] = 0; - out_8174317485626071951[313] = 0; - out_8174317485626071951[314] = 0; - out_8174317485626071951[315] = 0; - out_8174317485626071951[316] = 0; - out_8174317485626071951[317] = 0; - out_8174317485626071951[318] = 0; - out_8174317485626071951[319] = 0; - out_8174317485626071951[320] = 0; - out_8174317485626071951[321] = 0; - out_8174317485626071951[322] = 0; - out_8174317485626071951[323] = 1; +void F_fun(double *state, double dt, double *out_5153518595662752782) { + out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[2] = 0; + out_5153518595662752782[3] = 0; + out_5153518595662752782[4] = 0; + out_5153518595662752782[5] = 0; + out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[9] = 0; + out_5153518595662752782[10] = 0; + out_5153518595662752782[11] = 0; + out_5153518595662752782[12] = 0; + out_5153518595662752782[13] = 0; + out_5153518595662752782[14] = 0; + out_5153518595662752782[15] = 0; + out_5153518595662752782[16] = 0; + out_5153518595662752782[17] = 0; + out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[20] = 0; + out_5153518595662752782[21] = 0; + out_5153518595662752782[22] = 0; + out_5153518595662752782[23] = 0; + out_5153518595662752782[24] = 0; + out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[27] = 0; + out_5153518595662752782[28] = 0; + out_5153518595662752782[29] = 0; + out_5153518595662752782[30] = 0; + out_5153518595662752782[31] = 0; + out_5153518595662752782[32] = 0; + out_5153518595662752782[33] = 0; + out_5153518595662752782[34] = 0; + out_5153518595662752782[35] = 0; + out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[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_5153518595662752782[39] = 0; + out_5153518595662752782[40] = 0; + out_5153518595662752782[41] = 0; + out_5153518595662752782[42] = 0; + out_5153518595662752782[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_5153518595662752782[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_5153518595662752782[45] = 0; + out_5153518595662752782[46] = 0; + out_5153518595662752782[47] = 0; + out_5153518595662752782[48] = 0; + out_5153518595662752782[49] = 0; + out_5153518595662752782[50] = 0; + out_5153518595662752782[51] = 0; + out_5153518595662752782[52] = 0; + out_5153518595662752782[53] = 0; + out_5153518595662752782[54] = 0; + out_5153518595662752782[55] = 0; + out_5153518595662752782[56] = 0; + out_5153518595662752782[57] = 1; + out_5153518595662752782[58] = 0; + out_5153518595662752782[59] = 0; + out_5153518595662752782[60] = 0; + out_5153518595662752782[61] = 0; + out_5153518595662752782[62] = 0; + out_5153518595662752782[63] = 0; + out_5153518595662752782[64] = 0; + out_5153518595662752782[65] = 0; + out_5153518595662752782[66] = dt; + out_5153518595662752782[67] = 0; + out_5153518595662752782[68] = 0; + out_5153518595662752782[69] = 0; + out_5153518595662752782[70] = 0; + out_5153518595662752782[71] = 0; + out_5153518595662752782[72] = 0; + out_5153518595662752782[73] = 0; + out_5153518595662752782[74] = 0; + out_5153518595662752782[75] = 0; + out_5153518595662752782[76] = 1; + out_5153518595662752782[77] = 0; + out_5153518595662752782[78] = 0; + out_5153518595662752782[79] = 0; + out_5153518595662752782[80] = 0; + out_5153518595662752782[81] = 0; + out_5153518595662752782[82] = 0; + out_5153518595662752782[83] = 0; + out_5153518595662752782[84] = 0; + out_5153518595662752782[85] = dt; + out_5153518595662752782[86] = 0; + out_5153518595662752782[87] = 0; + out_5153518595662752782[88] = 0; + out_5153518595662752782[89] = 0; + out_5153518595662752782[90] = 0; + out_5153518595662752782[91] = 0; + out_5153518595662752782[92] = 0; + out_5153518595662752782[93] = 0; + out_5153518595662752782[94] = 0; + out_5153518595662752782[95] = 1; + out_5153518595662752782[96] = 0; + out_5153518595662752782[97] = 0; + out_5153518595662752782[98] = 0; + out_5153518595662752782[99] = 0; + out_5153518595662752782[100] = 0; + out_5153518595662752782[101] = 0; + out_5153518595662752782[102] = 0; + out_5153518595662752782[103] = 0; + out_5153518595662752782[104] = dt; + out_5153518595662752782[105] = 0; + out_5153518595662752782[106] = 0; + out_5153518595662752782[107] = 0; + out_5153518595662752782[108] = 0; + out_5153518595662752782[109] = 0; + out_5153518595662752782[110] = 0; + out_5153518595662752782[111] = 0; + out_5153518595662752782[112] = 0; + out_5153518595662752782[113] = 0; + out_5153518595662752782[114] = 1; + out_5153518595662752782[115] = 0; + out_5153518595662752782[116] = 0; + out_5153518595662752782[117] = 0; + out_5153518595662752782[118] = 0; + out_5153518595662752782[119] = 0; + out_5153518595662752782[120] = 0; + out_5153518595662752782[121] = 0; + out_5153518595662752782[122] = 0; + out_5153518595662752782[123] = 0; + out_5153518595662752782[124] = 0; + out_5153518595662752782[125] = 0; + out_5153518595662752782[126] = 0; + out_5153518595662752782[127] = 0; + out_5153518595662752782[128] = 0; + out_5153518595662752782[129] = 0; + out_5153518595662752782[130] = 0; + out_5153518595662752782[131] = 0; + out_5153518595662752782[132] = 0; + out_5153518595662752782[133] = 1; + out_5153518595662752782[134] = 0; + out_5153518595662752782[135] = 0; + out_5153518595662752782[136] = 0; + out_5153518595662752782[137] = 0; + out_5153518595662752782[138] = 0; + out_5153518595662752782[139] = 0; + out_5153518595662752782[140] = 0; + out_5153518595662752782[141] = 0; + out_5153518595662752782[142] = 0; + out_5153518595662752782[143] = 0; + out_5153518595662752782[144] = 0; + out_5153518595662752782[145] = 0; + out_5153518595662752782[146] = 0; + out_5153518595662752782[147] = 0; + out_5153518595662752782[148] = 0; + out_5153518595662752782[149] = 0; + out_5153518595662752782[150] = 0; + out_5153518595662752782[151] = 0; + out_5153518595662752782[152] = 1; + out_5153518595662752782[153] = 0; + out_5153518595662752782[154] = 0; + out_5153518595662752782[155] = 0; + out_5153518595662752782[156] = 0; + out_5153518595662752782[157] = 0; + out_5153518595662752782[158] = 0; + out_5153518595662752782[159] = 0; + out_5153518595662752782[160] = 0; + out_5153518595662752782[161] = 0; + out_5153518595662752782[162] = 0; + out_5153518595662752782[163] = 0; + out_5153518595662752782[164] = 0; + out_5153518595662752782[165] = 0; + out_5153518595662752782[166] = 0; + out_5153518595662752782[167] = 0; + out_5153518595662752782[168] = 0; + out_5153518595662752782[169] = 0; + out_5153518595662752782[170] = 0; + out_5153518595662752782[171] = 1; + out_5153518595662752782[172] = 0; + out_5153518595662752782[173] = 0; + out_5153518595662752782[174] = 0; + out_5153518595662752782[175] = 0; + out_5153518595662752782[176] = 0; + out_5153518595662752782[177] = 0; + out_5153518595662752782[178] = 0; + out_5153518595662752782[179] = 0; + out_5153518595662752782[180] = 0; + out_5153518595662752782[181] = 0; + out_5153518595662752782[182] = 0; + out_5153518595662752782[183] = 0; + out_5153518595662752782[184] = 0; + out_5153518595662752782[185] = 0; + out_5153518595662752782[186] = 0; + out_5153518595662752782[187] = 0; + out_5153518595662752782[188] = 0; + out_5153518595662752782[189] = 0; + out_5153518595662752782[190] = 1; + out_5153518595662752782[191] = 0; + out_5153518595662752782[192] = 0; + out_5153518595662752782[193] = 0; + out_5153518595662752782[194] = 0; + out_5153518595662752782[195] = 0; + out_5153518595662752782[196] = 0; + out_5153518595662752782[197] = 0; + out_5153518595662752782[198] = 0; + out_5153518595662752782[199] = 0; + out_5153518595662752782[200] = 0; + out_5153518595662752782[201] = 0; + out_5153518595662752782[202] = 0; + out_5153518595662752782[203] = 0; + out_5153518595662752782[204] = 0; + out_5153518595662752782[205] = 0; + out_5153518595662752782[206] = 0; + out_5153518595662752782[207] = 0; + out_5153518595662752782[208] = 0; + out_5153518595662752782[209] = 1; + out_5153518595662752782[210] = 0; + out_5153518595662752782[211] = 0; + out_5153518595662752782[212] = 0; + out_5153518595662752782[213] = 0; + out_5153518595662752782[214] = 0; + out_5153518595662752782[215] = 0; + out_5153518595662752782[216] = 0; + out_5153518595662752782[217] = 0; + out_5153518595662752782[218] = 0; + out_5153518595662752782[219] = 0; + out_5153518595662752782[220] = 0; + out_5153518595662752782[221] = 0; + out_5153518595662752782[222] = 0; + out_5153518595662752782[223] = 0; + out_5153518595662752782[224] = 0; + out_5153518595662752782[225] = 0; + out_5153518595662752782[226] = 0; + out_5153518595662752782[227] = 0; + out_5153518595662752782[228] = 1; + out_5153518595662752782[229] = 0; + out_5153518595662752782[230] = 0; + out_5153518595662752782[231] = 0; + out_5153518595662752782[232] = 0; + out_5153518595662752782[233] = 0; + out_5153518595662752782[234] = 0; + out_5153518595662752782[235] = 0; + out_5153518595662752782[236] = 0; + out_5153518595662752782[237] = 0; + out_5153518595662752782[238] = 0; + out_5153518595662752782[239] = 0; + out_5153518595662752782[240] = 0; + out_5153518595662752782[241] = 0; + out_5153518595662752782[242] = 0; + out_5153518595662752782[243] = 0; + out_5153518595662752782[244] = 0; + out_5153518595662752782[245] = 0; + out_5153518595662752782[246] = 0; + out_5153518595662752782[247] = 1; + out_5153518595662752782[248] = 0; + out_5153518595662752782[249] = 0; + out_5153518595662752782[250] = 0; + out_5153518595662752782[251] = 0; + out_5153518595662752782[252] = 0; + out_5153518595662752782[253] = 0; + out_5153518595662752782[254] = 0; + out_5153518595662752782[255] = 0; + out_5153518595662752782[256] = 0; + out_5153518595662752782[257] = 0; + out_5153518595662752782[258] = 0; + out_5153518595662752782[259] = 0; + out_5153518595662752782[260] = 0; + out_5153518595662752782[261] = 0; + out_5153518595662752782[262] = 0; + out_5153518595662752782[263] = 0; + out_5153518595662752782[264] = 0; + out_5153518595662752782[265] = 0; + out_5153518595662752782[266] = 1; + out_5153518595662752782[267] = 0; + out_5153518595662752782[268] = 0; + out_5153518595662752782[269] = 0; + out_5153518595662752782[270] = 0; + out_5153518595662752782[271] = 0; + out_5153518595662752782[272] = 0; + out_5153518595662752782[273] = 0; + out_5153518595662752782[274] = 0; + out_5153518595662752782[275] = 0; + out_5153518595662752782[276] = 0; + out_5153518595662752782[277] = 0; + out_5153518595662752782[278] = 0; + out_5153518595662752782[279] = 0; + out_5153518595662752782[280] = 0; + out_5153518595662752782[281] = 0; + out_5153518595662752782[282] = 0; + out_5153518595662752782[283] = 0; + out_5153518595662752782[284] = 0; + out_5153518595662752782[285] = 1; + out_5153518595662752782[286] = 0; + out_5153518595662752782[287] = 0; + out_5153518595662752782[288] = 0; + out_5153518595662752782[289] = 0; + out_5153518595662752782[290] = 0; + out_5153518595662752782[291] = 0; + out_5153518595662752782[292] = 0; + out_5153518595662752782[293] = 0; + out_5153518595662752782[294] = 0; + out_5153518595662752782[295] = 0; + out_5153518595662752782[296] = 0; + out_5153518595662752782[297] = 0; + out_5153518595662752782[298] = 0; + out_5153518595662752782[299] = 0; + out_5153518595662752782[300] = 0; + out_5153518595662752782[301] = 0; + out_5153518595662752782[302] = 0; + out_5153518595662752782[303] = 0; + out_5153518595662752782[304] = 1; + out_5153518595662752782[305] = 0; + out_5153518595662752782[306] = 0; + out_5153518595662752782[307] = 0; + out_5153518595662752782[308] = 0; + out_5153518595662752782[309] = 0; + out_5153518595662752782[310] = 0; + out_5153518595662752782[311] = 0; + out_5153518595662752782[312] = 0; + out_5153518595662752782[313] = 0; + out_5153518595662752782[314] = 0; + out_5153518595662752782[315] = 0; + out_5153518595662752782[316] = 0; + out_5153518595662752782[317] = 0; + out_5153518595662752782[318] = 0; + out_5153518595662752782[319] = 0; + out_5153518595662752782[320] = 0; + out_5153518595662752782[321] = 0; + out_5153518595662752782[322] = 0; + out_5153518595662752782[323] = 1; } -void h_4(double *state, double *unused, double *out_5523365294760256360) { - out_5523365294760256360[0] = state[6] + state[9]; - out_5523365294760256360[1] = state[7] + state[10]; - out_5523365294760256360[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_3441983837194168135) { + out_3441983837194168135[0] = state[6] + state[9]; + out_3441983837194168135[1] = state[7] + state[10]; + out_3441983837194168135[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_848654723451256734) { - out_848654723451256734[0] = 0; - out_848654723451256734[1] = 0; - out_848654723451256734[2] = 0; - out_848654723451256734[3] = 0; - out_848654723451256734[4] = 0; - out_848654723451256734[5] = 0; - out_848654723451256734[6] = 1; - out_848654723451256734[7] = 0; - out_848654723451256734[8] = 0; - out_848654723451256734[9] = 1; - out_848654723451256734[10] = 0; - out_848654723451256734[11] = 0; - out_848654723451256734[12] = 0; - out_848654723451256734[13] = 0; - out_848654723451256734[14] = 0; - out_848654723451256734[15] = 0; - out_848654723451256734[16] = 0; - out_848654723451256734[17] = 0; - out_848654723451256734[18] = 0; - out_848654723451256734[19] = 0; - out_848654723451256734[20] = 0; - out_848654723451256734[21] = 0; - out_848654723451256734[22] = 0; - out_848654723451256734[23] = 0; - out_848654723451256734[24] = 0; - out_848654723451256734[25] = 1; - out_848654723451256734[26] = 0; - out_848654723451256734[27] = 0; - out_848654723451256734[28] = 1; - out_848654723451256734[29] = 0; - out_848654723451256734[30] = 0; - out_848654723451256734[31] = 0; - out_848654723451256734[32] = 0; - out_848654723451256734[33] = 0; - out_848654723451256734[34] = 0; - out_848654723451256734[35] = 0; - out_848654723451256734[36] = 0; - out_848654723451256734[37] = 0; - out_848654723451256734[38] = 0; - out_848654723451256734[39] = 0; - out_848654723451256734[40] = 0; - out_848654723451256734[41] = 0; - out_848654723451256734[42] = 0; - out_848654723451256734[43] = 0; - out_848654723451256734[44] = 1; - out_848654723451256734[45] = 0; - out_848654723451256734[46] = 0; - out_848654723451256734[47] = 1; - out_848654723451256734[48] = 0; - out_848654723451256734[49] = 0; - out_848654723451256734[50] = 0; - out_848654723451256734[51] = 0; - out_848654723451256734[52] = 0; - out_848654723451256734[53] = 0; +void H_4(double *state, double *unused, double *out_3792847385831294211) { + out_3792847385831294211[0] = 0; + out_3792847385831294211[1] = 0; + out_3792847385831294211[2] = 0; + out_3792847385831294211[3] = 0; + out_3792847385831294211[4] = 0; + out_3792847385831294211[5] = 0; + out_3792847385831294211[6] = 1; + out_3792847385831294211[7] = 0; + out_3792847385831294211[8] = 0; + out_3792847385831294211[9] = 1; + out_3792847385831294211[10] = 0; + out_3792847385831294211[11] = 0; + out_3792847385831294211[12] = 0; + out_3792847385831294211[13] = 0; + out_3792847385831294211[14] = 0; + out_3792847385831294211[15] = 0; + out_3792847385831294211[16] = 0; + out_3792847385831294211[17] = 0; + out_3792847385831294211[18] = 0; + out_3792847385831294211[19] = 0; + out_3792847385831294211[20] = 0; + out_3792847385831294211[21] = 0; + out_3792847385831294211[22] = 0; + out_3792847385831294211[23] = 0; + out_3792847385831294211[24] = 0; + out_3792847385831294211[25] = 1; + out_3792847385831294211[26] = 0; + out_3792847385831294211[27] = 0; + out_3792847385831294211[28] = 1; + out_3792847385831294211[29] = 0; + out_3792847385831294211[30] = 0; + out_3792847385831294211[31] = 0; + out_3792847385831294211[32] = 0; + out_3792847385831294211[33] = 0; + out_3792847385831294211[34] = 0; + out_3792847385831294211[35] = 0; + out_3792847385831294211[36] = 0; + out_3792847385831294211[37] = 0; + out_3792847385831294211[38] = 0; + out_3792847385831294211[39] = 0; + out_3792847385831294211[40] = 0; + out_3792847385831294211[41] = 0; + out_3792847385831294211[42] = 0; + out_3792847385831294211[43] = 0; + out_3792847385831294211[44] = 1; + out_3792847385831294211[45] = 0; + out_3792847385831294211[46] = 0; + out_3792847385831294211[47] = 1; + out_3792847385831294211[48] = 0; + out_3792847385831294211[49] = 0; + out_3792847385831294211[50] = 0; + out_3792847385831294211[51] = 0; + out_3792847385831294211[52] = 0; + out_3792847385831294211[53] = 0; } -void h_10(double *state, double *unused, double *out_1239079208898706284) { - out_1239079208898706284[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_1239079208898706284[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_1239079208898706284[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_6864246601547225854) { + out_6864246601547225854[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_6864246601547225854[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_6864246601547225854[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_1001724707531765931) { - out_1001724707531765931[0] = 0; - out_1001724707531765931[1] = 9.8100000000000005*cos(state[1]); - out_1001724707531765931[2] = 0; - out_1001724707531765931[3] = 0; - out_1001724707531765931[4] = -state[8]; - out_1001724707531765931[5] = state[7]; - out_1001724707531765931[6] = 0; - out_1001724707531765931[7] = state[5]; - out_1001724707531765931[8] = -state[4]; - out_1001724707531765931[9] = 0; - out_1001724707531765931[10] = 0; - out_1001724707531765931[11] = 0; - out_1001724707531765931[12] = 1; - out_1001724707531765931[13] = 0; - out_1001724707531765931[14] = 0; - out_1001724707531765931[15] = 1; - out_1001724707531765931[16] = 0; - out_1001724707531765931[17] = 0; - out_1001724707531765931[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_1001724707531765931[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_1001724707531765931[20] = 0; - out_1001724707531765931[21] = state[8]; - out_1001724707531765931[22] = 0; - out_1001724707531765931[23] = -state[6]; - out_1001724707531765931[24] = -state[5]; - out_1001724707531765931[25] = 0; - out_1001724707531765931[26] = state[3]; - out_1001724707531765931[27] = 0; - out_1001724707531765931[28] = 0; - out_1001724707531765931[29] = 0; - out_1001724707531765931[30] = 0; - out_1001724707531765931[31] = 1; - out_1001724707531765931[32] = 0; - out_1001724707531765931[33] = 0; - out_1001724707531765931[34] = 1; - out_1001724707531765931[35] = 0; - out_1001724707531765931[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_1001724707531765931[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_1001724707531765931[38] = 0; - out_1001724707531765931[39] = -state[7]; - out_1001724707531765931[40] = state[6]; - out_1001724707531765931[41] = 0; - out_1001724707531765931[42] = state[4]; - out_1001724707531765931[43] = -state[3]; - out_1001724707531765931[44] = 0; - out_1001724707531765931[45] = 0; - out_1001724707531765931[46] = 0; - out_1001724707531765931[47] = 0; - out_1001724707531765931[48] = 0; - out_1001724707531765931[49] = 0; - out_1001724707531765931[50] = 1; - out_1001724707531765931[51] = 0; - out_1001724707531765931[52] = 0; - out_1001724707531765931[53] = 1; +void H_10(double *state, double *unused, double *out_5871577252215708993) { + out_5871577252215708993[0] = 0; + out_5871577252215708993[1] = 9.8100000000000005*cos(state[1]); + out_5871577252215708993[2] = 0; + out_5871577252215708993[3] = 0; + out_5871577252215708993[4] = -state[8]; + out_5871577252215708993[5] = state[7]; + out_5871577252215708993[6] = 0; + out_5871577252215708993[7] = state[5]; + out_5871577252215708993[8] = -state[4]; + out_5871577252215708993[9] = 0; + out_5871577252215708993[10] = 0; + out_5871577252215708993[11] = 0; + out_5871577252215708993[12] = 1; + out_5871577252215708993[13] = 0; + out_5871577252215708993[14] = 0; + out_5871577252215708993[15] = 1; + out_5871577252215708993[16] = 0; + out_5871577252215708993[17] = 0; + out_5871577252215708993[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_5871577252215708993[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_5871577252215708993[20] = 0; + out_5871577252215708993[21] = state[8]; + out_5871577252215708993[22] = 0; + out_5871577252215708993[23] = -state[6]; + out_5871577252215708993[24] = -state[5]; + out_5871577252215708993[25] = 0; + out_5871577252215708993[26] = state[3]; + out_5871577252215708993[27] = 0; + out_5871577252215708993[28] = 0; + out_5871577252215708993[29] = 0; + out_5871577252215708993[30] = 0; + out_5871577252215708993[31] = 1; + out_5871577252215708993[32] = 0; + out_5871577252215708993[33] = 0; + out_5871577252215708993[34] = 1; + out_5871577252215708993[35] = 0; + out_5871577252215708993[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_5871577252215708993[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_5871577252215708993[38] = 0; + out_5871577252215708993[39] = -state[7]; + out_5871577252215708993[40] = state[6]; + out_5871577252215708993[41] = 0; + out_5871577252215708993[42] = state[4]; + out_5871577252215708993[43] = -state[3]; + out_5871577252215708993[44] = 0; + out_5871577252215708993[45] = 0; + out_5871577252215708993[46] = 0; + out_5871577252215708993[47] = 0; + out_5871577252215708993[48] = 0; + out_5871577252215708993[49] = 0; + out_5871577252215708993[50] = 1; + out_5871577252215708993[51] = 0; + out_5871577252215708993[52] = 0; + out_5871577252215708993[53] = 1; } -void h_13(double *state, double *unused, double *out_7307670055393162069) { - out_7307670055393162069[0] = state[3]; - out_7307670055393162069[1] = state[4]; - out_7307670055393162069[2] = state[5]; +void h_13(double *state, double *unused, double *out_3325053226247216097) { + out_3325053226247216097[0] = state[3]; + out_3325053226247216097[1] = state[4]; + out_3325053226247216097[2] = state[5]; } -void H_13(double *state, double *unused, double *out_6761976484865444195) { - out_6761976484865444195[0] = 0; - out_6761976484865444195[1] = 0; - out_6761976484865444195[2] = 0; - out_6761976484865444195[3] = 1; - out_6761976484865444195[4] = 0; - out_6761976484865444195[5] = 0; - out_6761976484865444195[6] = 0; - out_6761976484865444195[7] = 0; - out_6761976484865444195[8] = 0; - out_6761976484865444195[9] = 0; - out_6761976484865444195[10] = 0; - out_6761976484865444195[11] = 0; - out_6761976484865444195[12] = 0; - out_6761976484865444195[13] = 0; - out_6761976484865444195[14] = 0; - out_6761976484865444195[15] = 0; - out_6761976484865444195[16] = 0; - out_6761976484865444195[17] = 0; - out_6761976484865444195[18] = 0; - out_6761976484865444195[19] = 0; - out_6761976484865444195[20] = 0; - out_6761976484865444195[21] = 0; - out_6761976484865444195[22] = 1; - out_6761976484865444195[23] = 0; - out_6761976484865444195[24] = 0; - out_6761976484865444195[25] = 0; - out_6761976484865444195[26] = 0; - out_6761976484865444195[27] = 0; - out_6761976484865444195[28] = 0; - out_6761976484865444195[29] = 0; - out_6761976484865444195[30] = 0; - out_6761976484865444195[31] = 0; - out_6761976484865444195[32] = 0; - out_6761976484865444195[33] = 0; - out_6761976484865444195[34] = 0; - out_6761976484865444195[35] = 0; - out_6761976484865444195[36] = 0; - out_6761976484865444195[37] = 0; - out_6761976484865444195[38] = 0; - out_6761976484865444195[39] = 0; - out_6761976484865444195[40] = 0; - out_6761976484865444195[41] = 1; - out_6761976484865444195[42] = 0; - out_6761976484865444195[43] = 0; - out_6761976484865444195[44] = 0; - out_6761976484865444195[45] = 0; - out_6761976484865444195[46] = 0; - out_6761976484865444195[47] = 0; - out_6761976484865444195[48] = 0; - out_6761976484865444195[49] = 0; - out_6761976484865444195[50] = 0; - out_6761976484865444195[51] = 0; - out_6761976484865444195[52] = 0; - out_6761976484865444195[53] = 0; +void H_13(double *state, double *unused, double *out_580573560498961410) { + out_580573560498961410[0] = 0; + out_580573560498961410[1] = 0; + out_580573560498961410[2] = 0; + out_580573560498961410[3] = 1; + out_580573560498961410[4] = 0; + out_580573560498961410[5] = 0; + out_580573560498961410[6] = 0; + out_580573560498961410[7] = 0; + out_580573560498961410[8] = 0; + out_580573560498961410[9] = 0; + out_580573560498961410[10] = 0; + out_580573560498961410[11] = 0; + out_580573560498961410[12] = 0; + out_580573560498961410[13] = 0; + out_580573560498961410[14] = 0; + out_580573560498961410[15] = 0; + out_580573560498961410[16] = 0; + out_580573560498961410[17] = 0; + out_580573560498961410[18] = 0; + out_580573560498961410[19] = 0; + out_580573560498961410[20] = 0; + out_580573560498961410[21] = 0; + out_580573560498961410[22] = 1; + out_580573560498961410[23] = 0; + out_580573560498961410[24] = 0; + out_580573560498961410[25] = 0; + out_580573560498961410[26] = 0; + out_580573560498961410[27] = 0; + out_580573560498961410[28] = 0; + out_580573560498961410[29] = 0; + out_580573560498961410[30] = 0; + out_580573560498961410[31] = 0; + out_580573560498961410[32] = 0; + out_580573560498961410[33] = 0; + out_580573560498961410[34] = 0; + out_580573560498961410[35] = 0; + out_580573560498961410[36] = 0; + out_580573560498961410[37] = 0; + out_580573560498961410[38] = 0; + out_580573560498961410[39] = 0; + out_580573560498961410[40] = 0; + out_580573560498961410[41] = 1; + out_580573560498961410[42] = 0; + out_580573560498961410[43] = 0; + out_580573560498961410[44] = 0; + out_580573560498961410[45] = 0; + out_580573560498961410[46] = 0; + out_580573560498961410[47] = 0; + out_580573560498961410[48] = 0; + out_580573560498961410[49] = 0; + out_580573560498961410[50] = 0; + out_580573560498961410[51] = 0; + out_580573560498961410[52] = 0; + out_580573560498961410[53] = 0; } -void h_14(double *state, double *unused, double *out_7233663736752442507) { - out_7233663736752442507[0] = state[6]; - out_7233663736752442507[1] = state[7]; - out_7233663736752442507[2] = state[8]; +void h_14(double *state, double *unused, double *out_7213076452181803827) { + out_7213076452181803827[0] = state[6]; + out_7213076452181803827[1] = state[7]; + out_7213076452181803827[2] = state[8]; } -void H_14(double *state, double *unused, double *out_3114586132888227795) { - out_3114586132888227795[0] = 0; - out_3114586132888227795[1] = 0; - out_3114586132888227795[2] = 0; - out_3114586132888227795[3] = 0; - out_3114586132888227795[4] = 0; - out_3114586132888227795[5] = 0; - out_3114586132888227795[6] = 1; - out_3114586132888227795[7] = 0; - out_3114586132888227795[8] = 0; - out_3114586132888227795[9] = 0; - out_3114586132888227795[10] = 0; - out_3114586132888227795[11] = 0; - out_3114586132888227795[12] = 0; - out_3114586132888227795[13] = 0; - out_3114586132888227795[14] = 0; - out_3114586132888227795[15] = 0; - out_3114586132888227795[16] = 0; - out_3114586132888227795[17] = 0; - out_3114586132888227795[18] = 0; - out_3114586132888227795[19] = 0; - out_3114586132888227795[20] = 0; - out_3114586132888227795[21] = 0; - out_3114586132888227795[22] = 0; - out_3114586132888227795[23] = 0; - out_3114586132888227795[24] = 0; - out_3114586132888227795[25] = 1; - out_3114586132888227795[26] = 0; - out_3114586132888227795[27] = 0; - out_3114586132888227795[28] = 0; - out_3114586132888227795[29] = 0; - out_3114586132888227795[30] = 0; - out_3114586132888227795[31] = 0; - out_3114586132888227795[32] = 0; - out_3114586132888227795[33] = 0; - out_3114586132888227795[34] = 0; - out_3114586132888227795[35] = 0; - out_3114586132888227795[36] = 0; - out_3114586132888227795[37] = 0; - out_3114586132888227795[38] = 0; - out_3114586132888227795[39] = 0; - out_3114586132888227795[40] = 0; - out_3114586132888227795[41] = 0; - out_3114586132888227795[42] = 0; - out_3114586132888227795[43] = 0; - out_3114586132888227795[44] = 1; - out_3114586132888227795[45] = 0; - out_3114586132888227795[46] = 0; - out_3114586132888227795[47] = 0; - out_3114586132888227795[48] = 0; - out_3114586132888227795[49] = 0; - out_3114586132888227795[50] = 0; - out_3114586132888227795[51] = 0; - out_3114586132888227795[52] = 0; - out_3114586132888227795[53] = 0; +void H_14(double *state, double *unused, double *out_170393470508190318) { + out_170393470508190318[0] = 0; + out_170393470508190318[1] = 0; + out_170393470508190318[2] = 0; + out_170393470508190318[3] = 0; + out_170393470508190318[4] = 0; + out_170393470508190318[5] = 0; + out_170393470508190318[6] = 1; + out_170393470508190318[7] = 0; + out_170393470508190318[8] = 0; + out_170393470508190318[9] = 0; + out_170393470508190318[10] = 0; + out_170393470508190318[11] = 0; + out_170393470508190318[12] = 0; + out_170393470508190318[13] = 0; + out_170393470508190318[14] = 0; + out_170393470508190318[15] = 0; + out_170393470508190318[16] = 0; + out_170393470508190318[17] = 0; + out_170393470508190318[18] = 0; + out_170393470508190318[19] = 0; + out_170393470508190318[20] = 0; + out_170393470508190318[21] = 0; + out_170393470508190318[22] = 0; + out_170393470508190318[23] = 0; + out_170393470508190318[24] = 0; + out_170393470508190318[25] = 1; + out_170393470508190318[26] = 0; + out_170393470508190318[27] = 0; + out_170393470508190318[28] = 0; + out_170393470508190318[29] = 0; + out_170393470508190318[30] = 0; + out_170393470508190318[31] = 0; + out_170393470508190318[32] = 0; + out_170393470508190318[33] = 0; + out_170393470508190318[34] = 0; + out_170393470508190318[35] = 0; + out_170393470508190318[36] = 0; + out_170393470508190318[37] = 0; + out_170393470508190318[38] = 0; + out_170393470508190318[39] = 0; + out_170393470508190318[40] = 0; + out_170393470508190318[41] = 0; + out_170393470508190318[42] = 0; + out_170393470508190318[43] = 0; + out_170393470508190318[44] = 1; + out_170393470508190318[45] = 0; + out_170393470508190318[46] = 0; + out_170393470508190318[47] = 0; + out_170393470508190318[48] = 0; + out_170393470508190318[49] = 0; + out_170393470508190318[50] = 0; + out_170393470508190318[51] = 0; + out_170393470508190318[52] = 0; + out_170393470508190318[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_8123935570106658818) { - err_fun(nom_x, delta_x, out_8123935570106658818); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2803054085873220166) { + err_fun(nom_x, delta_x, out_2803054085873220166); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { - inv_err_fun(nom_x, true_x, out_7916605304970807670); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541) { + inv_err_fun(nom_x, true_x, out_870718263858356541); } -void pose_H_mod_fun(double *state, double *out_1602815725505969341) { - H_mod_fun(state, out_1602815725505969341); +void pose_H_mod_fun(double *state, double *out_245560868528396178) { + H_mod_fun(state, out_245560868528396178); } -void pose_f_fun(double *state, double dt, double *out_6941148323357631663) { - f_fun(state, dt, out_6941148323357631663); +void pose_f_fun(double *state, double dt, double *out_8465405656783528291) { + f_fun(state, dt, out_8465405656783528291); } -void pose_F_fun(double *state, double dt, double *out_8174317485626071951) { - F_fun(state, dt, out_8174317485626071951); +void pose_F_fun(double *state, double dt, double *out_5153518595662752782) { + F_fun(state, dt, out_5153518595662752782); } -void pose_h_4(double *state, double *unused, double *out_5523365294760256360) { - h_4(state, unused, out_5523365294760256360); +void pose_h_4(double *state, double *unused, double *out_3441983837194168135) { + h_4(state, unused, out_3441983837194168135); } -void pose_H_4(double *state, double *unused, double *out_848654723451256734) { - H_4(state, unused, out_848654723451256734); +void pose_H_4(double *state, double *unused, double *out_3792847385831294211) { + H_4(state, unused, out_3792847385831294211); } -void pose_h_10(double *state, double *unused, double *out_1239079208898706284) { - h_10(state, unused, out_1239079208898706284); +void pose_h_10(double *state, double *unused, double *out_6864246601547225854) { + h_10(state, unused, out_6864246601547225854); } -void pose_H_10(double *state, double *unused, double *out_1001724707531765931) { - H_10(state, unused, out_1001724707531765931); +void pose_H_10(double *state, double *unused, double *out_5871577252215708993) { + H_10(state, unused, out_5871577252215708993); } -void pose_h_13(double *state, double *unused, double *out_7307670055393162069) { - h_13(state, unused, out_7307670055393162069); +void pose_h_13(double *state, double *unused, double *out_3325053226247216097) { + h_13(state, unused, out_3325053226247216097); } -void pose_H_13(double *state, double *unused, double *out_6761976484865444195) { - H_13(state, unused, out_6761976484865444195); +void pose_H_13(double *state, double *unused, double *out_580573560498961410) { + H_13(state, unused, out_580573560498961410); } -void pose_h_14(double *state, double *unused, double *out_7233663736752442507) { - h_14(state, unused, out_7233663736752442507); +void pose_h_14(double *state, double *unused, double *out_7213076452181803827) { + h_14(state, unused, out_7213076452181803827); } -void pose_H_14(double *state, double *unused, double *out_3114586132888227795) { - H_14(state, unused, out_3114586132888227795); +void pose_H_14(double *state, double *unused, double *out_170393470508190318) { + H_14(state, unused, out_170393470508190318); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/pose.h b/selfdrive/locationd/models/generated/pose.h index 2d40ef84f..ea16f9c46 100644 --- a/selfdrive/locationd/models/generated/pose.h +++ b/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670); -void pose_H_mod_fun(double *state, double *out_1602815725505969341); -void pose_f_fun(double *state, double dt, double *out_6941148323357631663); -void pose_F_fun(double *state, double dt, double *out_8174317485626071951); -void pose_h_4(double *state, double *unused, double *out_5523365294760256360); -void pose_H_4(double *state, double *unused, double *out_848654723451256734); -void pose_h_10(double *state, double *unused, double *out_1239079208898706284); -void pose_H_10(double *state, double *unused, double *out_1001724707531765931); -void pose_h_13(double *state, double *unused, double *out_7307670055393162069); -void pose_H_13(double *state, double *unused, double *out_6761976484865444195); -void pose_h_14(double *state, double *unused, double *out_7233663736752442507); -void pose_H_14(double *state, double *unused, double *out_3114586132888227795); +void pose_err_fun(double *nom_x, double *delta_x, double *out_2803054085873220166); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_870718263858356541); +void pose_H_mod_fun(double *state, double *out_245560868528396178); +void pose_f_fun(double *state, double dt, double *out_8465405656783528291); +void pose_F_fun(double *state, double dt, double *out_5153518595662752782); +void pose_h_4(double *state, double *unused, double *out_3441983837194168135); +void pose_H_4(double *state, double *unused, double *out_3792847385831294211); +void pose_h_10(double *state, double *unused, double *out_6864246601547225854); +void pose_H_10(double *state, double *unused, double *out_5871577252215708993); +void pose_h_13(double *state, double *unused, double *out_3325053226247216097); +void pose_H_13(double *state, double *unused, double *out_580573560498961410); +void pose_h_14(double *state, double *unused, double *out_7213076452181803827); +void pose_H_14(double *state, double *unused, double *out_170393470508190318); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git 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