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fb27d4f37..0fa6fd558 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index da411ec0b..36157a7cf 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 3dcb5e149..3ddbeafb3 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-19d545b2-DEBUG \ No newline at end of file +DEV-b75b2168-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index d07ecaad1..a8229a7c7 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_3831254278589076381) { - out_3831254278589076381[0] = delta_x[0] + nom_x[0]; - out_3831254278589076381[1] = delta_x[1] + nom_x[1]; - out_3831254278589076381[2] = delta_x[2] + nom_x[2]; - out_3831254278589076381[3] = delta_x[3] + nom_x[3]; - out_3831254278589076381[4] = delta_x[4] + nom_x[4]; - out_3831254278589076381[5] = delta_x[5] + nom_x[5]; - out_3831254278589076381[6] = delta_x[6] + nom_x[6]; - out_3831254278589076381[7] = delta_x[7] + nom_x[7]; - out_3831254278589076381[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7469803269040701934) { + out_7469803269040701934[0] = delta_x[0] + nom_x[0]; + out_7469803269040701934[1] = delta_x[1] + nom_x[1]; + out_7469803269040701934[2] = delta_x[2] + nom_x[2]; + out_7469803269040701934[3] = delta_x[3] + nom_x[3]; + out_7469803269040701934[4] = delta_x[4] + nom_x[4]; + out_7469803269040701934[5] = delta_x[5] + nom_x[5]; + out_7469803269040701934[6] = delta_x[6] + nom_x[6]; + out_7469803269040701934[7] = delta_x[7] + nom_x[7]; + out_7469803269040701934[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2600409940070229376) { - out_2600409940070229376[0] = -nom_x[0] + true_x[0]; - out_2600409940070229376[1] = -nom_x[1] + true_x[1]; - out_2600409940070229376[2] = -nom_x[2] + true_x[2]; - out_2600409940070229376[3] = -nom_x[3] + true_x[3]; - out_2600409940070229376[4] = -nom_x[4] + true_x[4]; - out_2600409940070229376[5] = -nom_x[5] + true_x[5]; - out_2600409940070229376[6] = -nom_x[6] + true_x[6]; - out_2600409940070229376[7] = -nom_x[7] + true_x[7]; - out_2600409940070229376[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5146487777305957172) { + out_5146487777305957172[0] = -nom_x[0] + true_x[0]; + out_5146487777305957172[1] = -nom_x[1] + true_x[1]; + out_5146487777305957172[2] = -nom_x[2] + true_x[2]; + out_5146487777305957172[3] = -nom_x[3] + true_x[3]; + out_5146487777305957172[4] = -nom_x[4] + true_x[4]; + out_5146487777305957172[5] = -nom_x[5] + true_x[5]; + out_5146487777305957172[6] = -nom_x[6] + true_x[6]; + out_5146487777305957172[7] = -nom_x[7] + true_x[7]; + out_5146487777305957172[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_1960169395562662079) { - out_1960169395562662079[0] = 1.0; - out_1960169395562662079[1] = 0.0; - out_1960169395562662079[2] = 0.0; - out_1960169395562662079[3] = 0.0; - out_1960169395562662079[4] = 0.0; - out_1960169395562662079[5] = 0.0; - out_1960169395562662079[6] = 0.0; - out_1960169395562662079[7] = 0.0; - out_1960169395562662079[8] = 0.0; - out_1960169395562662079[9] = 0.0; - out_1960169395562662079[10] = 1.0; - out_1960169395562662079[11] = 0.0; - out_1960169395562662079[12] = 0.0; - out_1960169395562662079[13] = 0.0; - out_1960169395562662079[14] = 0.0; - out_1960169395562662079[15] = 0.0; - out_1960169395562662079[16] = 0.0; - out_1960169395562662079[17] = 0.0; - out_1960169395562662079[18] = 0.0; - out_1960169395562662079[19] = 0.0; - out_1960169395562662079[20] = 1.0; - out_1960169395562662079[21] = 0.0; - out_1960169395562662079[22] = 0.0; - out_1960169395562662079[23] = 0.0; - out_1960169395562662079[24] = 0.0; - out_1960169395562662079[25] = 0.0; - out_1960169395562662079[26] = 0.0; - out_1960169395562662079[27] = 0.0; - out_1960169395562662079[28] = 0.0; - out_1960169395562662079[29] = 0.0; - out_1960169395562662079[30] = 1.0; - out_1960169395562662079[31] = 0.0; - out_1960169395562662079[32] = 0.0; - out_1960169395562662079[33] = 0.0; - out_1960169395562662079[34] = 0.0; - out_1960169395562662079[35] = 0.0; - out_1960169395562662079[36] = 0.0; - out_1960169395562662079[37] = 0.0; - out_1960169395562662079[38] = 0.0; - out_1960169395562662079[39] = 0.0; - out_1960169395562662079[40] = 1.0; - out_1960169395562662079[41] = 0.0; - out_1960169395562662079[42] = 0.0; - out_1960169395562662079[43] = 0.0; - out_1960169395562662079[44] = 0.0; - out_1960169395562662079[45] = 0.0; - out_1960169395562662079[46] = 0.0; - out_1960169395562662079[47] = 0.0; - out_1960169395562662079[48] = 0.0; - out_1960169395562662079[49] = 0.0; - out_1960169395562662079[50] = 1.0; - out_1960169395562662079[51] = 0.0; - out_1960169395562662079[52] = 0.0; - out_1960169395562662079[53] = 0.0; - out_1960169395562662079[54] = 0.0; - out_1960169395562662079[55] = 0.0; - out_1960169395562662079[56] = 0.0; - out_1960169395562662079[57] = 0.0; - out_1960169395562662079[58] = 0.0; - out_1960169395562662079[59] = 0.0; - out_1960169395562662079[60] = 1.0; - out_1960169395562662079[61] = 0.0; - out_1960169395562662079[62] = 0.0; - out_1960169395562662079[63] = 0.0; - out_1960169395562662079[64] = 0.0; - out_1960169395562662079[65] = 0.0; - out_1960169395562662079[66] = 0.0; - out_1960169395562662079[67] = 0.0; - out_1960169395562662079[68] = 0.0; - out_1960169395562662079[69] = 0.0; - out_1960169395562662079[70] = 1.0; - out_1960169395562662079[71] = 0.0; - out_1960169395562662079[72] = 0.0; - out_1960169395562662079[73] = 0.0; - out_1960169395562662079[74] = 0.0; - out_1960169395562662079[75] = 0.0; - out_1960169395562662079[76] = 0.0; - out_1960169395562662079[77] = 0.0; - out_1960169395562662079[78] = 0.0; - out_1960169395562662079[79] = 0.0; - out_1960169395562662079[80] = 1.0; +void H_mod_fun(double *state, double *out_6489034200722373172) { + out_6489034200722373172[0] = 1.0; + out_6489034200722373172[1] = 0.0; + out_6489034200722373172[2] = 0.0; + out_6489034200722373172[3] = 0.0; + out_6489034200722373172[4] = 0.0; + out_6489034200722373172[5] = 0.0; + out_6489034200722373172[6] = 0.0; + out_6489034200722373172[7] = 0.0; + out_6489034200722373172[8] = 0.0; + out_6489034200722373172[9] = 0.0; + out_6489034200722373172[10] = 1.0; + out_6489034200722373172[11] = 0.0; + out_6489034200722373172[12] = 0.0; + out_6489034200722373172[13] = 0.0; + out_6489034200722373172[14] = 0.0; + out_6489034200722373172[15] = 0.0; + out_6489034200722373172[16] = 0.0; + out_6489034200722373172[17] = 0.0; + out_6489034200722373172[18] = 0.0; + out_6489034200722373172[19] = 0.0; + out_6489034200722373172[20] = 1.0; + out_6489034200722373172[21] = 0.0; + out_6489034200722373172[22] = 0.0; + out_6489034200722373172[23] = 0.0; + out_6489034200722373172[24] = 0.0; + out_6489034200722373172[25] = 0.0; + out_6489034200722373172[26] = 0.0; + out_6489034200722373172[27] = 0.0; + out_6489034200722373172[28] = 0.0; + out_6489034200722373172[29] = 0.0; + out_6489034200722373172[30] = 1.0; + out_6489034200722373172[31] = 0.0; + out_6489034200722373172[32] = 0.0; + out_6489034200722373172[33] = 0.0; + out_6489034200722373172[34] = 0.0; + out_6489034200722373172[35] = 0.0; + out_6489034200722373172[36] = 0.0; + out_6489034200722373172[37] = 0.0; + out_6489034200722373172[38] = 0.0; + out_6489034200722373172[39] = 0.0; + out_6489034200722373172[40] = 1.0; + out_6489034200722373172[41] = 0.0; + out_6489034200722373172[42] = 0.0; + out_6489034200722373172[43] = 0.0; + out_6489034200722373172[44] = 0.0; + out_6489034200722373172[45] = 0.0; + out_6489034200722373172[46] = 0.0; + out_6489034200722373172[47] = 0.0; + out_6489034200722373172[48] = 0.0; + out_6489034200722373172[49] = 0.0; + out_6489034200722373172[50] = 1.0; + out_6489034200722373172[51] = 0.0; + out_6489034200722373172[52] = 0.0; + out_6489034200722373172[53] = 0.0; + out_6489034200722373172[54] = 0.0; + out_6489034200722373172[55] = 0.0; + out_6489034200722373172[56] = 0.0; + out_6489034200722373172[57] = 0.0; + out_6489034200722373172[58] = 0.0; + out_6489034200722373172[59] = 0.0; + out_6489034200722373172[60] = 1.0; + out_6489034200722373172[61] = 0.0; + out_6489034200722373172[62] = 0.0; + out_6489034200722373172[63] = 0.0; + out_6489034200722373172[64] = 0.0; + out_6489034200722373172[65] = 0.0; + out_6489034200722373172[66] = 0.0; + out_6489034200722373172[67] = 0.0; + out_6489034200722373172[68] = 0.0; + out_6489034200722373172[69] = 0.0; + out_6489034200722373172[70] = 1.0; + out_6489034200722373172[71] = 0.0; + out_6489034200722373172[72] = 0.0; + out_6489034200722373172[73] = 0.0; + out_6489034200722373172[74] = 0.0; + out_6489034200722373172[75] = 0.0; + out_6489034200722373172[76] = 0.0; + out_6489034200722373172[77] = 0.0; + out_6489034200722373172[78] = 0.0; + out_6489034200722373172[79] = 0.0; + out_6489034200722373172[80] = 1.0; } -void f_fun(double *state, double dt, double *out_5814026824526248658) { - out_5814026824526248658[0] = state[0]; - out_5814026824526248658[1] = state[1]; - out_5814026824526248658[2] = state[2]; - out_5814026824526248658[3] = state[3]; - out_5814026824526248658[4] = state[4]; - out_5814026824526248658[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_5814026824526248658[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_5814026824526248658[7] = state[7]; - out_5814026824526248658[8] = state[8]; +void f_fun(double *state, double dt, double *out_2115535381215445196) { + out_2115535381215445196[0] = state[0]; + out_2115535381215445196[1] = state[1]; + out_2115535381215445196[2] = state[2]; + out_2115535381215445196[3] = state[3]; + out_2115535381215445196[4] = state[4]; + out_2115535381215445196[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_2115535381215445196[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_2115535381215445196[7] = state[7]; + out_2115535381215445196[8] = state[8]; } -void F_fun(double *state, double dt, double *out_596946632886970600) { - out_596946632886970600[0] = 1; - out_596946632886970600[1] = 0; - out_596946632886970600[2] = 0; - out_596946632886970600[3] = 0; - out_596946632886970600[4] = 0; - out_596946632886970600[5] = 0; - out_596946632886970600[6] = 0; - out_596946632886970600[7] = 0; - out_596946632886970600[8] = 0; - out_596946632886970600[9] = 0; - out_596946632886970600[10] = 1; - out_596946632886970600[11] = 0; - out_596946632886970600[12] = 0; - out_596946632886970600[13] = 0; - out_596946632886970600[14] = 0; - out_596946632886970600[15] = 0; - out_596946632886970600[16] = 0; - out_596946632886970600[17] = 0; - out_596946632886970600[18] = 0; - out_596946632886970600[19] = 0; - out_596946632886970600[20] = 1; - out_596946632886970600[21] = 0; - out_596946632886970600[22] = 0; - out_596946632886970600[23] = 0; - out_596946632886970600[24] = 0; - out_596946632886970600[25] = 0; - out_596946632886970600[26] = 0; - out_596946632886970600[27] = 0; - out_596946632886970600[28] = 0; - out_596946632886970600[29] = 0; - out_596946632886970600[30] = 1; - out_596946632886970600[31] = 0; - out_596946632886970600[32] = 0; - out_596946632886970600[33] = 0; - out_596946632886970600[34] = 0; - out_596946632886970600[35] = 0; - out_596946632886970600[36] = 0; - out_596946632886970600[37] = 0; - out_596946632886970600[38] = 0; - out_596946632886970600[39] = 0; - out_596946632886970600[40] = 1; - out_596946632886970600[41] = 0; - out_596946632886970600[42] = 0; - out_596946632886970600[43] = 0; - out_596946632886970600[44] = 0; - out_596946632886970600[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_596946632886970600[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_596946632886970600[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_596946632886970600[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_596946632886970600[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_596946632886970600[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_596946632886970600[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_596946632886970600[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_596946632886970600[53] = -9.8100000000000005*dt; - out_596946632886970600[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_596946632886970600[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_596946632886970600[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_596946632886970600[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_596946632886970600[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_596946632886970600[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_596946632886970600[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_596946632886970600[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_596946632886970600[62] = 0; - out_596946632886970600[63] = 0; - out_596946632886970600[64] = 0; - out_596946632886970600[65] = 0; - out_596946632886970600[66] = 0; - out_596946632886970600[67] = 0; - out_596946632886970600[68] = 0; - out_596946632886970600[69] = 0; - out_596946632886970600[70] = 1; - out_596946632886970600[71] = 0; - out_596946632886970600[72] = 0; - out_596946632886970600[73] = 0; - out_596946632886970600[74] = 0; - out_596946632886970600[75] = 0; - out_596946632886970600[76] = 0; - out_596946632886970600[77] = 0; - out_596946632886970600[78] = 0; - out_596946632886970600[79] = 0; - out_596946632886970600[80] = 1; +void F_fun(double *state, double dt, double *out_697532477187400649) { + out_697532477187400649[0] = 1; + out_697532477187400649[1] = 0; + out_697532477187400649[2] = 0; + out_697532477187400649[3] = 0; + out_697532477187400649[4] = 0; + out_697532477187400649[5] = 0; + out_697532477187400649[6] = 0; + out_697532477187400649[7] = 0; + out_697532477187400649[8] = 0; + out_697532477187400649[9] = 0; + out_697532477187400649[10] = 1; + out_697532477187400649[11] = 0; + out_697532477187400649[12] = 0; + out_697532477187400649[13] = 0; + out_697532477187400649[14] = 0; + out_697532477187400649[15] = 0; + out_697532477187400649[16] = 0; + out_697532477187400649[17] = 0; + out_697532477187400649[18] = 0; + out_697532477187400649[19] = 0; + out_697532477187400649[20] = 1; + out_697532477187400649[21] = 0; + out_697532477187400649[22] = 0; + out_697532477187400649[23] = 0; + out_697532477187400649[24] = 0; + out_697532477187400649[25] = 0; + out_697532477187400649[26] = 0; + out_697532477187400649[27] = 0; + out_697532477187400649[28] = 0; + out_697532477187400649[29] = 0; + out_697532477187400649[30] = 1; + out_697532477187400649[31] = 0; + out_697532477187400649[32] = 0; + out_697532477187400649[33] = 0; + out_697532477187400649[34] = 0; + out_697532477187400649[35] = 0; + out_697532477187400649[36] = 0; + out_697532477187400649[37] = 0; + out_697532477187400649[38] = 0; + out_697532477187400649[39] = 0; + out_697532477187400649[40] = 1; + out_697532477187400649[41] = 0; + out_697532477187400649[42] = 0; + out_697532477187400649[43] = 0; + out_697532477187400649[44] = 0; + out_697532477187400649[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_697532477187400649[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_697532477187400649[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_697532477187400649[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_697532477187400649[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_697532477187400649[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_697532477187400649[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_697532477187400649[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_697532477187400649[53] = -9.8100000000000005*dt; + out_697532477187400649[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_697532477187400649[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_697532477187400649[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_697532477187400649[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_697532477187400649[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_697532477187400649[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_697532477187400649[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_697532477187400649[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_697532477187400649[62] = 0; + out_697532477187400649[63] = 0; + out_697532477187400649[64] = 0; + out_697532477187400649[65] = 0; + out_697532477187400649[66] = 0; + out_697532477187400649[67] = 0; + out_697532477187400649[68] = 0; + out_697532477187400649[69] = 0; + out_697532477187400649[70] = 1; + out_697532477187400649[71] = 0; + out_697532477187400649[72] = 0; + out_697532477187400649[73] = 0; + out_697532477187400649[74] = 0; + out_697532477187400649[75] = 0; + out_697532477187400649[76] = 0; + out_697532477187400649[77] = 0; + out_697532477187400649[78] = 0; + out_697532477187400649[79] = 0; + out_697532477187400649[80] = 1; } -void h_25(double *state, double *unused, double *out_6549462771998662423) { - out_6549462771998662423[0] = state[6]; +void h_25(double *state, double *unused, double *out_5124614186779649716) { + out_5124614186779649716[0] = state[6]; } -void H_25(double *state, double *unused, double *out_4945326686098262856) { - out_4945326686098262856[0] = 0; - out_4945326686098262856[1] = 0; - out_4945326686098262856[2] = 0; - out_4945326686098262856[3] = 0; - out_4945326686098262856[4] = 0; - out_4945326686098262856[5] = 0; - out_4945326686098262856[6] = 1; - out_4945326686098262856[7] = 0; - out_4945326686098262856[8] = 0; +void H_25(double *state, double *unused, double *out_2704154025189864065) { + out_2704154025189864065[0] = 0; + out_2704154025189864065[1] = 0; + out_2704154025189864065[2] = 0; + out_2704154025189864065[3] = 0; + out_2704154025189864065[4] = 0; + out_2704154025189864065[5] = 0; + out_2704154025189864065[6] = 1; + out_2704154025189864065[7] = 0; + out_2704154025189864065[8] = 0; } -void h_24(double *state, double *unused, double *out_3025287820893037920) { - out_3025287820893037920[0] = state[4]; - out_3025287820893037920[1] = state[5]; +void h_24(double *state, double *unused, double *out_2288772113706282518) { + out_2288772113706282518[0] = state[4]; + out_2288772113706282518[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8927649837496030754) { - out_8927649837496030754[0] = 0; - out_8927649837496030754[1] = 0; - out_8927649837496030754[2] = 0; - out_8927649837496030754[3] = 0; - out_8927649837496030754[4] = 1; - out_8927649837496030754[5] = 0; - out_8927649837496030754[6] = 0; - out_8927649837496030754[7] = 0; - out_8927649837496030754[8] = 0; - out_8927649837496030754[9] = 0; - out_8927649837496030754[10] = 0; - out_8927649837496030754[11] = 0; - out_8927649837496030754[12] = 0; - out_8927649837496030754[13] = 0; - out_8927649837496030754[14] = 1; - out_8927649837496030754[15] = 0; - out_8927649837496030754[16] = 0; - out_8927649837496030754[17] = 0; +void H_24(double *state, double *unused, double *out_4876803624195363631) { + out_4876803624195363631[0] = 0; + out_4876803624195363631[1] = 0; + out_4876803624195363631[2] = 0; + out_4876803624195363631[3] = 0; + out_4876803624195363631[4] = 1; + out_4876803624195363631[5] = 0; + out_4876803624195363631[6] = 0; + out_4876803624195363631[7] = 0; + out_4876803624195363631[8] = 0; + out_4876803624195363631[9] = 0; + out_4876803624195363631[10] = 0; + out_4876803624195363631[11] = 0; + out_4876803624195363631[12] = 0; + out_4876803624195363631[13] = 0; + out_4876803624195363631[14] = 1; + out_4876803624195363631[15] = 0; + out_4876803624195363631[16] = 0; + out_4876803624195363631[17] = 0; } -void h_30(double *state, double *unused, double *out_8259831773456866843) { - out_8259831773456866843[0] = state[4]; +void h_30(double *state, double *unused, double *out_3032926190730655359) { + out_3032926190730655359[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2426993727591014229) { - out_2426993727591014229[0] = 0; - out_2426993727591014229[1] = 0; - out_2426993727591014229[2] = 0; - out_2426993727591014229[3] = 0; - out_2426993727591014229[4] = 1; - out_2426993727591014229[5] = 0; - out_2426993727591014229[6] = 0; - out_2426993727591014229[7] = 0; - out_2426993727591014229[8] = 0; +void H_30(double *state, double *unused, double *out_185821066682615438) { + out_185821066682615438[0] = 0; + out_185821066682615438[1] = 0; + out_185821066682615438[2] = 0; + out_185821066682615438[3] = 0; + out_185821066682615438[4] = 1; + out_185821066682615438[5] = 0; + out_185821066682615438[6] = 0; + out_185821066682615438[7] = 0; + out_185821066682615438[8] = 0; } -void h_26(double *state, double *unused, double *out_2693730589396356978) { - out_2693730589396356978[0] = state[7]; +void h_26(double *state, double *unused, double *out_7090256083799836565) { + out_7090256083799836565[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8686830004972319080) { - out_8686830004972319080[0] = 0; - out_8686830004972319080[1] = 0; - out_8686830004972319080[2] = 0; - out_8686830004972319080[3] = 0; - out_8686830004972319080[4] = 0; - out_8686830004972319080[5] = 0; - out_8686830004972319080[6] = 0; - out_8686830004972319080[7] = 1; - out_8686830004972319080[8] = 0; +void H_26(double *state, double *unused, double *out_600371944570936536) { + out_600371944570936536[0] = 0; + out_600371944570936536[1] = 0; + out_600371944570936536[2] = 0; + out_600371944570936536[3] = 0; + out_600371944570936536[4] = 0; + out_600371944570936536[5] = 0; + out_600371944570936536[6] = 0; + out_600371944570936536[7] = 1; + out_600371944570936536[8] = 0; } -void h_27(double *state, double *unused, double *out_1218913001142171261) { - out_1218913001142171261[0] = state[3]; +void h_27(double *state, double *unused, double *out_6474868053290145758) { + out_6474868053290145758[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4601757039391439140) { - out_4601757039391439140[0] = 0; - out_4601757039391439140[1] = 0; - out_4601757039391439140[2] = 0; - out_4601757039391439140[3] = 1; - out_4601757039391439140[4] = 0; - out_4601757039391439140[5] = 0; - out_4601757039391439140[6] = 0; - out_4601757039391439140[7] = 0; - out_4601757039391439140[8] = 0; +void H_27(double *state, double *unused, double *out_2037773004501327779) { + out_2037773004501327779[0] = 0; + out_2037773004501327779[1] = 0; + out_2037773004501327779[2] = 0; + out_2037773004501327779[3] = 1; + out_2037773004501327779[4] = 0; + out_2037773004501327779[5] = 0; + out_2037773004501327779[6] = 0; + out_2037773004501327779[7] = 0; + out_2037773004501327779[8] = 0; } -void h_29(double *state, double *unused, double *out_3033924557621541896) { - out_3033924557621541896[0] = state[1]; +void h_29(double *state, double *unused, double *out_8675656061811612194) { + out_8675656061811612194[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1916762383276622045) { - out_1916762383276622045[0] = 0; - out_1916762383276622045[1] = 1; - out_1916762383276622045[2] = 0; - out_1916762383276622045[3] = 0; - out_1916762383276622045[4] = 0; - out_1916762383276622045[5] = 0; - out_1916762383276622045[6] = 0; - out_1916762383276622045[7] = 0; - out_1916762383276622045[8] = 0; +void H_29(double *state, double *unused, double *out_324410277631776746) { + out_324410277631776746[0] = 0; + out_324410277631776746[1] = 1; + out_324410277631776746[2] = 0; + out_324410277631776746[3] = 0; + out_324410277631776746[4] = 0; + out_324410277631776746[5] = 0; + out_324410277631776746[6] = 0; + out_324410277631776746[7] = 0; + out_324410277631776746[8] = 0; } -void h_28(double *state, double *unused, double *out_1822228885818648778) { - out_1822228885818648778[0] = state[0]; +void h_28(double *state, double *unused, double *out_2417538160220964552) { + out_2417538160220964552[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6999161400346152619) { - out_6999161400346152619[0] = 1; - out_6999161400346152619[1] = 0; - out_6999161400346152619[2] = 0; - out_6999161400346152619[3] = 0; - out_6999161400346152619[4] = 0; - out_6999161400346152619[5] = 0; - out_6999161400346152619[6] = 0; - out_6999161400346152619[7] = 0; - out_6999161400346152619[8] = 0; +void H_28(double *state, double *unused, double *out_4757988739437753828) { + out_4757988739437753828[0] = 1; + out_4757988739437753828[1] = 0; + out_4757988739437753828[2] = 0; + out_4757988739437753828[3] = 0; + out_4757988739437753828[4] = 0; + out_4757988739437753828[5] = 0; + out_4757988739437753828[6] = 0; + out_4757988739437753828[7] = 0; + out_4757988739437753828[8] = 0; } -void h_31(double *state, double *unused, double *out_3980504990301998057) { - out_3980504990301998057[0] = state[8]; +void h_31(double *state, double *unused, double *out_6551294660579550964) { + out_6551294660579550964[0] = state[8]; } -void H_31(double *state, double *unused, double *out_9133705966503881060) { - out_9133705966503881060[0] = 0; - out_9133705966503881060[1] = 0; - out_9133705966503881060[2] = 0; - out_9133705966503881060[3] = 0; - out_9133705966503881060[4] = 0; - out_9133705966503881060[5] = 0; - out_9133705966503881060[6] = 0; - out_9133705966503881060[7] = 0; - out_9133705966503881060[8] = 1; +void H_31(double *state, double *unused, double *out_2673508063312903637) { + out_2673508063312903637[0] = 0; + out_2673508063312903637[1] = 0; + out_2673508063312903637[2] = 0; + out_2673508063312903637[3] = 0; + out_2673508063312903637[4] = 0; + out_2673508063312903637[5] = 0; + out_2673508063312903637[6] = 0; + out_2673508063312903637[7] = 0; + out_2673508063312903637[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_3831254278589076381) { - err_fun(nom_x, delta_x, out_3831254278589076381); +void car_err_fun(double *nom_x, double *delta_x, double *out_7469803269040701934) { + err_fun(nom_x, delta_x, out_7469803269040701934); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2600409940070229376) { - inv_err_fun(nom_x, true_x, out_2600409940070229376); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5146487777305957172) { + inv_err_fun(nom_x, true_x, out_5146487777305957172); } -void car_H_mod_fun(double *state, double *out_1960169395562662079) { - H_mod_fun(state, out_1960169395562662079); +void car_H_mod_fun(double *state, double *out_6489034200722373172) { + H_mod_fun(state, out_6489034200722373172); } -void car_f_fun(double *state, double dt, double *out_5814026824526248658) { - f_fun(state, dt, out_5814026824526248658); +void car_f_fun(double *state, double dt, double *out_2115535381215445196) { + f_fun(state, dt, out_2115535381215445196); } -void car_F_fun(double *state, double dt, double *out_596946632886970600) { - F_fun(state, dt, out_596946632886970600); +void car_F_fun(double *state, double dt, double *out_697532477187400649) { + F_fun(state, dt, out_697532477187400649); } -void car_h_25(double *state, double *unused, double *out_6549462771998662423) { - h_25(state, unused, out_6549462771998662423); +void car_h_25(double *state, double *unused, double *out_5124614186779649716) { + h_25(state, unused, out_5124614186779649716); } -void car_H_25(double *state, double *unused, double *out_4945326686098262856) { - H_25(state, unused, out_4945326686098262856); +void car_H_25(double *state, double *unused, double *out_2704154025189864065) { + H_25(state, unused, out_2704154025189864065); } -void car_h_24(double *state, double *unused, double *out_3025287820893037920) { - h_24(state, unused, out_3025287820893037920); +void car_h_24(double *state, double *unused, double *out_2288772113706282518) { + h_24(state, unused, out_2288772113706282518); } -void car_H_24(double *state, double *unused, double *out_8927649837496030754) { - H_24(state, unused, out_8927649837496030754); +void car_H_24(double *state, double *unused, double *out_4876803624195363631) { + H_24(state, unused, out_4876803624195363631); } -void car_h_30(double *state, double *unused, double *out_8259831773456866843) { - h_30(state, unused, out_8259831773456866843); +void car_h_30(double *state, double *unused, double *out_3032926190730655359) { + h_30(state, unused, out_3032926190730655359); } -void car_H_30(double *state, double *unused, double *out_2426993727591014229) { - H_30(state, unused, out_2426993727591014229); +void car_H_30(double *state, double *unused, double *out_185821066682615438) { + H_30(state, unused, out_185821066682615438); } -void car_h_26(double *state, double *unused, double *out_2693730589396356978) { - h_26(state, unused, out_2693730589396356978); +void car_h_26(double *state, double *unused, double *out_7090256083799836565) { + h_26(state, unused, out_7090256083799836565); } -void car_H_26(double *state, double *unused, double *out_8686830004972319080) { - H_26(state, unused, out_8686830004972319080); +void car_H_26(double *state, double *unused, double *out_600371944570936536) { + H_26(state, unused, out_600371944570936536); } -void car_h_27(double *state, double *unused, double *out_1218913001142171261) { - h_27(state, unused, out_1218913001142171261); +void car_h_27(double *state, double *unused, double *out_6474868053290145758) { + h_27(state, unused, out_6474868053290145758); } -void car_H_27(double *state, double *unused, double *out_4601757039391439140) { - H_27(state, unused, out_4601757039391439140); +void car_H_27(double *state, double *unused, double *out_2037773004501327779) { + H_27(state, unused, out_2037773004501327779); } -void car_h_29(double *state, double *unused, double *out_3033924557621541896) { - h_29(state, unused, out_3033924557621541896); +void car_h_29(double *state, double *unused, double *out_8675656061811612194) { + h_29(state, unused, out_8675656061811612194); } -void car_H_29(double *state, double *unused, double *out_1916762383276622045) { - H_29(state, unused, out_1916762383276622045); +void car_H_29(double *state, double *unused, double *out_324410277631776746) { + H_29(state, unused, out_324410277631776746); } -void car_h_28(double *state, double *unused, double *out_1822228885818648778) { - h_28(state, unused, out_1822228885818648778); +void car_h_28(double *state, double *unused, double *out_2417538160220964552) { + h_28(state, unused, out_2417538160220964552); } -void car_H_28(double *state, double *unused, double *out_6999161400346152619) { - H_28(state, unused, out_6999161400346152619); +void car_H_28(double *state, double *unused, double *out_4757988739437753828) { + H_28(state, unused, out_4757988739437753828); } -void car_h_31(double *state, double *unused, double *out_3980504990301998057) { - h_31(state, unused, out_3980504990301998057); +void car_h_31(double *state, double *unused, double *out_6551294660579550964) { + h_31(state, unused, out_6551294660579550964); } -void car_H_31(double *state, double *unused, double *out_9133705966503881060) { - H_31(state, unused, out_9133705966503881060); +void car_H_31(double *state, double *unused, double *out_2673508063312903637) { + H_31(state, unused, out_2673508063312903637); } 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 6a039ad42..4e1ee8f32 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_3831254278589076381); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_2600409940070229376); -void car_H_mod_fun(double *state, double *out_1960169395562662079); -void car_f_fun(double *state, double dt, double *out_5814026824526248658); -void car_F_fun(double *state, double dt, double *out_596946632886970600); -void car_h_25(double *state, double *unused, double *out_6549462771998662423); -void car_H_25(double *state, double *unused, double *out_4945326686098262856); -void car_h_24(double *state, double *unused, double *out_3025287820893037920); -void car_H_24(double *state, double *unused, double *out_8927649837496030754); -void car_h_30(double *state, double *unused, double *out_8259831773456866843); -void car_H_30(double *state, double *unused, double *out_2426993727591014229); -void car_h_26(double *state, double *unused, double *out_2693730589396356978); -void car_H_26(double *state, double *unused, double *out_8686830004972319080); -void car_h_27(double *state, double *unused, double *out_1218913001142171261); -void car_H_27(double *state, double *unused, double *out_4601757039391439140); -void car_h_29(double *state, double *unused, double *out_3033924557621541896); -void car_H_29(double *state, double *unused, double *out_1916762383276622045); -void car_h_28(double *state, double *unused, double *out_1822228885818648778); -void car_H_28(double *state, double *unused, double *out_6999161400346152619); -void car_h_31(double *state, double *unused, double *out_3980504990301998057); -void car_H_31(double *state, double *unused, double *out_9133705966503881060); +void car_err_fun(double *nom_x, double *delta_x, double *out_7469803269040701934); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5146487777305957172); +void car_H_mod_fun(double *state, double *out_6489034200722373172); +void car_f_fun(double *state, double dt, double *out_2115535381215445196); +void car_F_fun(double *state, double dt, double *out_697532477187400649); +void car_h_25(double *state, double *unused, double *out_5124614186779649716); +void car_H_25(double *state, double *unused, double *out_2704154025189864065); +void car_h_24(double *state, double *unused, double *out_2288772113706282518); +void car_H_24(double *state, double *unused, double *out_4876803624195363631); +void car_h_30(double *state, double *unused, double *out_3032926190730655359); +void car_H_30(double *state, double *unused, double *out_185821066682615438); +void car_h_26(double *state, double *unused, double *out_7090256083799836565); +void car_H_26(double *state, double *unused, double *out_600371944570936536); +void car_h_27(double *state, double *unused, double *out_6474868053290145758); +void car_H_27(double *state, double *unused, double *out_2037773004501327779); +void car_h_29(double *state, double *unused, double *out_8675656061811612194); +void car_H_29(double *state, double *unused, double *out_324410277631776746); +void car_h_28(double *state, double *unused, double *out_2417538160220964552); +void car_H_28(double *state, double *unused, double *out_4757988739437753828); +void car_h_31(double *state, double *unused, double *out_6551294660579550964); +void car_H_31(double *state, double *unused, double *out_2673508063312903637); 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 f1f550e12..51866707b 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_5896214411466158685) { - out_5896214411466158685[0] = delta_x[0] + nom_x[0]; - out_5896214411466158685[1] = delta_x[1] + nom_x[1]; - out_5896214411466158685[2] = delta_x[2] + nom_x[2]; - out_5896214411466158685[3] = delta_x[3] + nom_x[3]; - out_5896214411466158685[4] = delta_x[4] + nom_x[4]; - out_5896214411466158685[5] = delta_x[5] + nom_x[5]; - out_5896214411466158685[6] = delta_x[6] + nom_x[6]; - out_5896214411466158685[7] = delta_x[7] + nom_x[7]; - out_5896214411466158685[8] = delta_x[8] + nom_x[8]; - out_5896214411466158685[9] = delta_x[9] + nom_x[9]; - out_5896214411466158685[10] = delta_x[10] + nom_x[10]; - out_5896214411466158685[11] = delta_x[11] + nom_x[11]; - out_5896214411466158685[12] = delta_x[12] + nom_x[12]; - out_5896214411466158685[13] = delta_x[13] + nom_x[13]; - out_5896214411466158685[14] = delta_x[14] + nom_x[14]; - out_5896214411466158685[15] = delta_x[15] + nom_x[15]; - out_5896214411466158685[16] = delta_x[16] + nom_x[16]; - out_5896214411466158685[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3190087603797747831) { + out_3190087603797747831[0] = delta_x[0] + nom_x[0]; + out_3190087603797747831[1] = delta_x[1] + nom_x[1]; + out_3190087603797747831[2] = delta_x[2] + nom_x[2]; + out_3190087603797747831[3] = delta_x[3] + nom_x[3]; + out_3190087603797747831[4] = delta_x[4] + nom_x[4]; + out_3190087603797747831[5] = delta_x[5] + nom_x[5]; + out_3190087603797747831[6] = delta_x[6] + nom_x[6]; + out_3190087603797747831[7] = delta_x[7] + nom_x[7]; + out_3190087603797747831[8] = delta_x[8] + nom_x[8]; + out_3190087603797747831[9] = delta_x[9] + nom_x[9]; + out_3190087603797747831[10] = delta_x[10] + nom_x[10]; + out_3190087603797747831[11] = delta_x[11] + nom_x[11]; + out_3190087603797747831[12] = delta_x[12] + nom_x[12]; + out_3190087603797747831[13] = delta_x[13] + nom_x[13]; + out_3190087603797747831[14] = delta_x[14] + nom_x[14]; + out_3190087603797747831[15] = delta_x[15] + nom_x[15]; + out_3190087603797747831[16] = delta_x[16] + nom_x[16]; + out_3190087603797747831[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2659108696170388183) { - out_2659108696170388183[0] = -nom_x[0] + true_x[0]; - out_2659108696170388183[1] = -nom_x[1] + true_x[1]; - out_2659108696170388183[2] = -nom_x[2] + true_x[2]; - out_2659108696170388183[3] = -nom_x[3] + true_x[3]; - out_2659108696170388183[4] = -nom_x[4] + true_x[4]; - out_2659108696170388183[5] = -nom_x[5] + true_x[5]; - out_2659108696170388183[6] = -nom_x[6] + true_x[6]; - out_2659108696170388183[7] = -nom_x[7] + true_x[7]; - out_2659108696170388183[8] = -nom_x[8] + true_x[8]; - out_2659108696170388183[9] = -nom_x[9] + true_x[9]; - out_2659108696170388183[10] = -nom_x[10] + true_x[10]; - out_2659108696170388183[11] = -nom_x[11] + true_x[11]; - out_2659108696170388183[12] = -nom_x[12] + true_x[12]; - out_2659108696170388183[13] = -nom_x[13] + true_x[13]; - out_2659108696170388183[14] = -nom_x[14] + true_x[14]; - out_2659108696170388183[15] = -nom_x[15] + true_x[15]; - out_2659108696170388183[16] = -nom_x[16] + true_x[16]; - out_2659108696170388183[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_509645540564194226) { + out_509645540564194226[0] = -nom_x[0] + true_x[0]; + out_509645540564194226[1] = -nom_x[1] + true_x[1]; + out_509645540564194226[2] = -nom_x[2] + true_x[2]; + out_509645540564194226[3] = -nom_x[3] + true_x[3]; + out_509645540564194226[4] = -nom_x[4] + true_x[4]; + out_509645540564194226[5] = -nom_x[5] + true_x[5]; + out_509645540564194226[6] = -nom_x[6] + true_x[6]; + out_509645540564194226[7] = -nom_x[7] + true_x[7]; + out_509645540564194226[8] = -nom_x[8] + true_x[8]; + out_509645540564194226[9] = -nom_x[9] + true_x[9]; + out_509645540564194226[10] = -nom_x[10] + true_x[10]; + out_509645540564194226[11] = -nom_x[11] + true_x[11]; + out_509645540564194226[12] = -nom_x[12] + true_x[12]; + out_509645540564194226[13] = -nom_x[13] + true_x[13]; + out_509645540564194226[14] = -nom_x[14] + true_x[14]; + out_509645540564194226[15] = -nom_x[15] + true_x[15]; + out_509645540564194226[16] = -nom_x[16] + true_x[16]; + out_509645540564194226[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_7168960818524543120) { - out_7168960818524543120[0] = 1.0; - out_7168960818524543120[1] = 0.0; - out_7168960818524543120[2] = 0.0; - out_7168960818524543120[3] = 0.0; - out_7168960818524543120[4] = 0.0; - out_7168960818524543120[5] = 0.0; - out_7168960818524543120[6] = 0.0; - out_7168960818524543120[7] = 0.0; - out_7168960818524543120[8] = 0.0; - out_7168960818524543120[9] = 0.0; - out_7168960818524543120[10] = 0.0; - out_7168960818524543120[11] = 0.0; - out_7168960818524543120[12] = 0.0; - out_7168960818524543120[13] = 0.0; - out_7168960818524543120[14] = 0.0; - out_7168960818524543120[15] = 0.0; - out_7168960818524543120[16] = 0.0; - out_7168960818524543120[17] = 0.0; - out_7168960818524543120[18] = 0.0; - out_7168960818524543120[19] = 1.0; - out_7168960818524543120[20] = 0.0; - out_7168960818524543120[21] = 0.0; - out_7168960818524543120[22] = 0.0; - out_7168960818524543120[23] = 0.0; - out_7168960818524543120[24] = 0.0; - out_7168960818524543120[25] = 0.0; - out_7168960818524543120[26] = 0.0; - out_7168960818524543120[27] = 0.0; - out_7168960818524543120[28] = 0.0; - out_7168960818524543120[29] = 0.0; - out_7168960818524543120[30] = 0.0; - out_7168960818524543120[31] = 0.0; - out_7168960818524543120[32] = 0.0; - out_7168960818524543120[33] = 0.0; - out_7168960818524543120[34] = 0.0; - out_7168960818524543120[35] = 0.0; - out_7168960818524543120[36] = 0.0; - out_7168960818524543120[37] = 0.0; - out_7168960818524543120[38] = 1.0; - out_7168960818524543120[39] = 0.0; - out_7168960818524543120[40] = 0.0; - out_7168960818524543120[41] = 0.0; - out_7168960818524543120[42] = 0.0; - out_7168960818524543120[43] = 0.0; - out_7168960818524543120[44] = 0.0; - out_7168960818524543120[45] = 0.0; - out_7168960818524543120[46] = 0.0; - out_7168960818524543120[47] = 0.0; - out_7168960818524543120[48] = 0.0; - out_7168960818524543120[49] = 0.0; - out_7168960818524543120[50] = 0.0; - out_7168960818524543120[51] = 0.0; - out_7168960818524543120[52] = 0.0; - out_7168960818524543120[53] = 0.0; - out_7168960818524543120[54] = 0.0; - out_7168960818524543120[55] = 0.0; - out_7168960818524543120[56] = 0.0; - out_7168960818524543120[57] = 1.0; - out_7168960818524543120[58] = 0.0; - out_7168960818524543120[59] = 0.0; - out_7168960818524543120[60] = 0.0; - out_7168960818524543120[61] = 0.0; - out_7168960818524543120[62] = 0.0; - out_7168960818524543120[63] = 0.0; - out_7168960818524543120[64] = 0.0; - out_7168960818524543120[65] = 0.0; - out_7168960818524543120[66] = 0.0; - out_7168960818524543120[67] = 0.0; - out_7168960818524543120[68] = 0.0; - out_7168960818524543120[69] = 0.0; - out_7168960818524543120[70] = 0.0; - out_7168960818524543120[71] = 0.0; - out_7168960818524543120[72] = 0.0; - out_7168960818524543120[73] = 0.0; - out_7168960818524543120[74] = 0.0; - out_7168960818524543120[75] = 0.0; - out_7168960818524543120[76] = 1.0; - out_7168960818524543120[77] = 0.0; - out_7168960818524543120[78] = 0.0; - out_7168960818524543120[79] = 0.0; - out_7168960818524543120[80] = 0.0; - out_7168960818524543120[81] = 0.0; - out_7168960818524543120[82] = 0.0; - out_7168960818524543120[83] = 0.0; - out_7168960818524543120[84] = 0.0; - out_7168960818524543120[85] = 0.0; - out_7168960818524543120[86] = 0.0; - out_7168960818524543120[87] = 0.0; - out_7168960818524543120[88] = 0.0; - out_7168960818524543120[89] = 0.0; - out_7168960818524543120[90] = 0.0; - out_7168960818524543120[91] = 0.0; - out_7168960818524543120[92] = 0.0; - out_7168960818524543120[93] = 0.0; - out_7168960818524543120[94] = 0.0; - out_7168960818524543120[95] = 1.0; - out_7168960818524543120[96] = 0.0; - out_7168960818524543120[97] = 0.0; - out_7168960818524543120[98] = 0.0; - out_7168960818524543120[99] = 0.0; - out_7168960818524543120[100] = 0.0; - out_7168960818524543120[101] = 0.0; - out_7168960818524543120[102] = 0.0; - out_7168960818524543120[103] = 0.0; - out_7168960818524543120[104] = 0.0; - out_7168960818524543120[105] = 0.0; - out_7168960818524543120[106] = 0.0; - out_7168960818524543120[107] = 0.0; - out_7168960818524543120[108] = 0.0; - out_7168960818524543120[109] = 0.0; - out_7168960818524543120[110] = 0.0; - out_7168960818524543120[111] = 0.0; - out_7168960818524543120[112] = 0.0; - out_7168960818524543120[113] = 0.0; - out_7168960818524543120[114] = 1.0; - out_7168960818524543120[115] = 0.0; - out_7168960818524543120[116] = 0.0; - out_7168960818524543120[117] = 0.0; - out_7168960818524543120[118] = 0.0; - out_7168960818524543120[119] = 0.0; - out_7168960818524543120[120] = 0.0; - out_7168960818524543120[121] = 0.0; - out_7168960818524543120[122] = 0.0; - out_7168960818524543120[123] = 0.0; - out_7168960818524543120[124] = 0.0; - out_7168960818524543120[125] = 0.0; - out_7168960818524543120[126] = 0.0; - out_7168960818524543120[127] = 0.0; - out_7168960818524543120[128] = 0.0; - out_7168960818524543120[129] = 0.0; - out_7168960818524543120[130] = 0.0; - out_7168960818524543120[131] = 0.0; - out_7168960818524543120[132] = 0.0; - out_7168960818524543120[133] = 1.0; - out_7168960818524543120[134] = 0.0; - out_7168960818524543120[135] = 0.0; - out_7168960818524543120[136] = 0.0; - out_7168960818524543120[137] = 0.0; - out_7168960818524543120[138] = 0.0; - out_7168960818524543120[139] = 0.0; - out_7168960818524543120[140] = 0.0; - out_7168960818524543120[141] = 0.0; - out_7168960818524543120[142] = 0.0; - out_7168960818524543120[143] = 0.0; - out_7168960818524543120[144] = 0.0; - out_7168960818524543120[145] = 0.0; - out_7168960818524543120[146] = 0.0; - out_7168960818524543120[147] = 0.0; - out_7168960818524543120[148] = 0.0; - out_7168960818524543120[149] = 0.0; - out_7168960818524543120[150] = 0.0; - out_7168960818524543120[151] = 0.0; - out_7168960818524543120[152] = 1.0; - out_7168960818524543120[153] = 0.0; - out_7168960818524543120[154] = 0.0; - out_7168960818524543120[155] = 0.0; - out_7168960818524543120[156] = 0.0; - out_7168960818524543120[157] = 0.0; - out_7168960818524543120[158] = 0.0; - out_7168960818524543120[159] = 0.0; - out_7168960818524543120[160] = 0.0; - out_7168960818524543120[161] = 0.0; - out_7168960818524543120[162] = 0.0; - out_7168960818524543120[163] = 0.0; - out_7168960818524543120[164] = 0.0; - out_7168960818524543120[165] = 0.0; - out_7168960818524543120[166] = 0.0; - out_7168960818524543120[167] = 0.0; - out_7168960818524543120[168] = 0.0; - out_7168960818524543120[169] = 0.0; - out_7168960818524543120[170] = 0.0; - out_7168960818524543120[171] = 1.0; - out_7168960818524543120[172] = 0.0; - out_7168960818524543120[173] = 0.0; - out_7168960818524543120[174] = 0.0; - out_7168960818524543120[175] = 0.0; - out_7168960818524543120[176] = 0.0; - out_7168960818524543120[177] = 0.0; - out_7168960818524543120[178] = 0.0; - out_7168960818524543120[179] = 0.0; - out_7168960818524543120[180] = 0.0; - out_7168960818524543120[181] = 0.0; - out_7168960818524543120[182] = 0.0; - out_7168960818524543120[183] = 0.0; - out_7168960818524543120[184] = 0.0; - out_7168960818524543120[185] = 0.0; - out_7168960818524543120[186] = 0.0; - out_7168960818524543120[187] = 0.0; - out_7168960818524543120[188] = 0.0; - out_7168960818524543120[189] = 0.0; - out_7168960818524543120[190] = 1.0; - out_7168960818524543120[191] = 0.0; - out_7168960818524543120[192] = 0.0; - out_7168960818524543120[193] = 0.0; - out_7168960818524543120[194] = 0.0; - out_7168960818524543120[195] = 0.0; - out_7168960818524543120[196] = 0.0; - out_7168960818524543120[197] = 0.0; - out_7168960818524543120[198] = 0.0; - out_7168960818524543120[199] = 0.0; - out_7168960818524543120[200] = 0.0; - out_7168960818524543120[201] = 0.0; - out_7168960818524543120[202] = 0.0; - out_7168960818524543120[203] = 0.0; - out_7168960818524543120[204] = 0.0; - out_7168960818524543120[205] = 0.0; - out_7168960818524543120[206] = 0.0; - out_7168960818524543120[207] = 0.0; - out_7168960818524543120[208] = 0.0; - out_7168960818524543120[209] = 1.0; - out_7168960818524543120[210] = 0.0; - out_7168960818524543120[211] = 0.0; - out_7168960818524543120[212] = 0.0; - out_7168960818524543120[213] = 0.0; - out_7168960818524543120[214] = 0.0; - out_7168960818524543120[215] = 0.0; - out_7168960818524543120[216] = 0.0; - out_7168960818524543120[217] = 0.0; - out_7168960818524543120[218] = 0.0; - out_7168960818524543120[219] = 0.0; - out_7168960818524543120[220] = 0.0; - out_7168960818524543120[221] = 0.0; - out_7168960818524543120[222] = 0.0; - out_7168960818524543120[223] = 0.0; - out_7168960818524543120[224] = 0.0; - out_7168960818524543120[225] = 0.0; - out_7168960818524543120[226] = 0.0; - out_7168960818524543120[227] = 0.0; - out_7168960818524543120[228] = 1.0; - out_7168960818524543120[229] = 0.0; - out_7168960818524543120[230] = 0.0; - out_7168960818524543120[231] = 0.0; - out_7168960818524543120[232] = 0.0; - out_7168960818524543120[233] = 0.0; - out_7168960818524543120[234] = 0.0; - out_7168960818524543120[235] = 0.0; - out_7168960818524543120[236] = 0.0; - out_7168960818524543120[237] = 0.0; - out_7168960818524543120[238] = 0.0; - out_7168960818524543120[239] = 0.0; - out_7168960818524543120[240] = 0.0; - out_7168960818524543120[241] = 0.0; - out_7168960818524543120[242] = 0.0; - out_7168960818524543120[243] = 0.0; - out_7168960818524543120[244] = 0.0; - out_7168960818524543120[245] = 0.0; - out_7168960818524543120[246] = 0.0; - out_7168960818524543120[247] = 1.0; - out_7168960818524543120[248] = 0.0; - out_7168960818524543120[249] = 0.0; - out_7168960818524543120[250] = 0.0; - out_7168960818524543120[251] = 0.0; - out_7168960818524543120[252] = 0.0; - out_7168960818524543120[253] = 0.0; - out_7168960818524543120[254] = 0.0; - out_7168960818524543120[255] = 0.0; - out_7168960818524543120[256] = 0.0; - out_7168960818524543120[257] = 0.0; - out_7168960818524543120[258] = 0.0; - out_7168960818524543120[259] = 0.0; - out_7168960818524543120[260] = 0.0; - out_7168960818524543120[261] = 0.0; - out_7168960818524543120[262] = 0.0; - out_7168960818524543120[263] = 0.0; - out_7168960818524543120[264] = 0.0; - out_7168960818524543120[265] = 0.0; - out_7168960818524543120[266] = 1.0; - out_7168960818524543120[267] = 0.0; - out_7168960818524543120[268] = 0.0; - out_7168960818524543120[269] = 0.0; - out_7168960818524543120[270] = 0.0; - out_7168960818524543120[271] = 0.0; - out_7168960818524543120[272] = 0.0; - out_7168960818524543120[273] = 0.0; - out_7168960818524543120[274] = 0.0; - out_7168960818524543120[275] = 0.0; - out_7168960818524543120[276] = 0.0; - out_7168960818524543120[277] = 0.0; - out_7168960818524543120[278] = 0.0; - out_7168960818524543120[279] = 0.0; - out_7168960818524543120[280] = 0.0; - out_7168960818524543120[281] = 0.0; - out_7168960818524543120[282] = 0.0; - out_7168960818524543120[283] = 0.0; - out_7168960818524543120[284] = 0.0; - out_7168960818524543120[285] = 1.0; - out_7168960818524543120[286] = 0.0; - out_7168960818524543120[287] = 0.0; - out_7168960818524543120[288] = 0.0; - out_7168960818524543120[289] = 0.0; - out_7168960818524543120[290] = 0.0; - out_7168960818524543120[291] = 0.0; - out_7168960818524543120[292] = 0.0; - out_7168960818524543120[293] = 0.0; - out_7168960818524543120[294] = 0.0; - out_7168960818524543120[295] = 0.0; - out_7168960818524543120[296] = 0.0; - out_7168960818524543120[297] = 0.0; - out_7168960818524543120[298] = 0.0; - out_7168960818524543120[299] = 0.0; - out_7168960818524543120[300] = 0.0; - out_7168960818524543120[301] = 0.0; - out_7168960818524543120[302] = 0.0; - out_7168960818524543120[303] = 0.0; - out_7168960818524543120[304] = 1.0; - out_7168960818524543120[305] = 0.0; - out_7168960818524543120[306] = 0.0; - out_7168960818524543120[307] = 0.0; - out_7168960818524543120[308] = 0.0; - out_7168960818524543120[309] = 0.0; - out_7168960818524543120[310] = 0.0; - out_7168960818524543120[311] = 0.0; - out_7168960818524543120[312] = 0.0; - out_7168960818524543120[313] = 0.0; - out_7168960818524543120[314] = 0.0; - out_7168960818524543120[315] = 0.0; - out_7168960818524543120[316] = 0.0; - out_7168960818524543120[317] = 0.0; - out_7168960818524543120[318] = 0.0; - out_7168960818524543120[319] = 0.0; - out_7168960818524543120[320] = 0.0; - out_7168960818524543120[321] = 0.0; - out_7168960818524543120[322] = 0.0; - out_7168960818524543120[323] = 1.0; +void H_mod_fun(double *state, double *out_5916418097484803312) { + out_5916418097484803312[0] = 1.0; + out_5916418097484803312[1] = 0.0; + out_5916418097484803312[2] = 0.0; + out_5916418097484803312[3] = 0.0; + out_5916418097484803312[4] = 0.0; + out_5916418097484803312[5] = 0.0; + out_5916418097484803312[6] = 0.0; + out_5916418097484803312[7] = 0.0; + out_5916418097484803312[8] = 0.0; + out_5916418097484803312[9] = 0.0; + out_5916418097484803312[10] = 0.0; + out_5916418097484803312[11] = 0.0; + out_5916418097484803312[12] = 0.0; + out_5916418097484803312[13] = 0.0; + out_5916418097484803312[14] = 0.0; + out_5916418097484803312[15] = 0.0; + out_5916418097484803312[16] = 0.0; + out_5916418097484803312[17] = 0.0; + out_5916418097484803312[18] = 0.0; + out_5916418097484803312[19] = 1.0; + out_5916418097484803312[20] = 0.0; + out_5916418097484803312[21] = 0.0; + out_5916418097484803312[22] = 0.0; + out_5916418097484803312[23] = 0.0; + out_5916418097484803312[24] = 0.0; + out_5916418097484803312[25] = 0.0; + out_5916418097484803312[26] = 0.0; + out_5916418097484803312[27] = 0.0; + out_5916418097484803312[28] = 0.0; + out_5916418097484803312[29] = 0.0; + out_5916418097484803312[30] = 0.0; + out_5916418097484803312[31] = 0.0; + out_5916418097484803312[32] = 0.0; + out_5916418097484803312[33] = 0.0; + out_5916418097484803312[34] = 0.0; + out_5916418097484803312[35] = 0.0; + out_5916418097484803312[36] = 0.0; + out_5916418097484803312[37] = 0.0; + out_5916418097484803312[38] = 1.0; + out_5916418097484803312[39] = 0.0; + out_5916418097484803312[40] = 0.0; + out_5916418097484803312[41] = 0.0; + out_5916418097484803312[42] = 0.0; + out_5916418097484803312[43] = 0.0; + out_5916418097484803312[44] = 0.0; + out_5916418097484803312[45] = 0.0; + out_5916418097484803312[46] = 0.0; + out_5916418097484803312[47] = 0.0; + out_5916418097484803312[48] = 0.0; + out_5916418097484803312[49] = 0.0; + out_5916418097484803312[50] = 0.0; + out_5916418097484803312[51] = 0.0; + out_5916418097484803312[52] = 0.0; + out_5916418097484803312[53] = 0.0; + out_5916418097484803312[54] = 0.0; + out_5916418097484803312[55] = 0.0; + out_5916418097484803312[56] = 0.0; + out_5916418097484803312[57] = 1.0; + out_5916418097484803312[58] = 0.0; + out_5916418097484803312[59] = 0.0; + out_5916418097484803312[60] = 0.0; + out_5916418097484803312[61] = 0.0; + out_5916418097484803312[62] = 0.0; + out_5916418097484803312[63] = 0.0; + out_5916418097484803312[64] = 0.0; + out_5916418097484803312[65] = 0.0; + out_5916418097484803312[66] = 0.0; + out_5916418097484803312[67] = 0.0; + out_5916418097484803312[68] = 0.0; + out_5916418097484803312[69] = 0.0; + out_5916418097484803312[70] = 0.0; + out_5916418097484803312[71] = 0.0; + out_5916418097484803312[72] = 0.0; + out_5916418097484803312[73] = 0.0; + out_5916418097484803312[74] = 0.0; + out_5916418097484803312[75] = 0.0; + out_5916418097484803312[76] = 1.0; + out_5916418097484803312[77] = 0.0; + out_5916418097484803312[78] = 0.0; + out_5916418097484803312[79] = 0.0; + out_5916418097484803312[80] = 0.0; + out_5916418097484803312[81] = 0.0; + out_5916418097484803312[82] = 0.0; + out_5916418097484803312[83] = 0.0; + out_5916418097484803312[84] = 0.0; + out_5916418097484803312[85] = 0.0; + out_5916418097484803312[86] = 0.0; + out_5916418097484803312[87] = 0.0; + out_5916418097484803312[88] = 0.0; + out_5916418097484803312[89] = 0.0; + out_5916418097484803312[90] = 0.0; + out_5916418097484803312[91] = 0.0; + out_5916418097484803312[92] = 0.0; + out_5916418097484803312[93] = 0.0; + out_5916418097484803312[94] = 0.0; + out_5916418097484803312[95] = 1.0; + out_5916418097484803312[96] = 0.0; + out_5916418097484803312[97] = 0.0; + out_5916418097484803312[98] = 0.0; + out_5916418097484803312[99] = 0.0; + out_5916418097484803312[100] = 0.0; + out_5916418097484803312[101] = 0.0; + out_5916418097484803312[102] = 0.0; + out_5916418097484803312[103] = 0.0; + out_5916418097484803312[104] = 0.0; + out_5916418097484803312[105] = 0.0; + out_5916418097484803312[106] = 0.0; + out_5916418097484803312[107] = 0.0; + out_5916418097484803312[108] = 0.0; + out_5916418097484803312[109] = 0.0; + out_5916418097484803312[110] = 0.0; + out_5916418097484803312[111] = 0.0; + out_5916418097484803312[112] = 0.0; + out_5916418097484803312[113] = 0.0; + out_5916418097484803312[114] = 1.0; + out_5916418097484803312[115] = 0.0; + out_5916418097484803312[116] = 0.0; + out_5916418097484803312[117] = 0.0; + out_5916418097484803312[118] = 0.0; + out_5916418097484803312[119] = 0.0; + out_5916418097484803312[120] = 0.0; + out_5916418097484803312[121] = 0.0; + out_5916418097484803312[122] = 0.0; + out_5916418097484803312[123] = 0.0; + out_5916418097484803312[124] = 0.0; + out_5916418097484803312[125] = 0.0; + out_5916418097484803312[126] = 0.0; + out_5916418097484803312[127] = 0.0; + out_5916418097484803312[128] = 0.0; + out_5916418097484803312[129] = 0.0; + out_5916418097484803312[130] = 0.0; + out_5916418097484803312[131] = 0.0; + out_5916418097484803312[132] = 0.0; + out_5916418097484803312[133] = 1.0; + out_5916418097484803312[134] = 0.0; + out_5916418097484803312[135] = 0.0; + out_5916418097484803312[136] = 0.0; + out_5916418097484803312[137] = 0.0; + out_5916418097484803312[138] = 0.0; + out_5916418097484803312[139] = 0.0; + out_5916418097484803312[140] = 0.0; + out_5916418097484803312[141] = 0.0; + out_5916418097484803312[142] = 0.0; + out_5916418097484803312[143] = 0.0; + out_5916418097484803312[144] = 0.0; + out_5916418097484803312[145] = 0.0; + out_5916418097484803312[146] = 0.0; + out_5916418097484803312[147] = 0.0; + out_5916418097484803312[148] = 0.0; + out_5916418097484803312[149] = 0.0; + out_5916418097484803312[150] = 0.0; + out_5916418097484803312[151] = 0.0; + out_5916418097484803312[152] = 1.0; + out_5916418097484803312[153] = 0.0; + out_5916418097484803312[154] = 0.0; + out_5916418097484803312[155] = 0.0; + out_5916418097484803312[156] = 0.0; + out_5916418097484803312[157] = 0.0; + out_5916418097484803312[158] = 0.0; + out_5916418097484803312[159] = 0.0; + out_5916418097484803312[160] = 0.0; + out_5916418097484803312[161] = 0.0; + out_5916418097484803312[162] = 0.0; + out_5916418097484803312[163] = 0.0; + out_5916418097484803312[164] = 0.0; + out_5916418097484803312[165] = 0.0; + out_5916418097484803312[166] = 0.0; + out_5916418097484803312[167] = 0.0; + out_5916418097484803312[168] = 0.0; + out_5916418097484803312[169] = 0.0; + out_5916418097484803312[170] = 0.0; + out_5916418097484803312[171] = 1.0; + out_5916418097484803312[172] = 0.0; + out_5916418097484803312[173] = 0.0; + out_5916418097484803312[174] = 0.0; + out_5916418097484803312[175] = 0.0; + out_5916418097484803312[176] = 0.0; + out_5916418097484803312[177] = 0.0; + out_5916418097484803312[178] = 0.0; + out_5916418097484803312[179] = 0.0; + out_5916418097484803312[180] = 0.0; + out_5916418097484803312[181] = 0.0; + out_5916418097484803312[182] = 0.0; + out_5916418097484803312[183] = 0.0; + out_5916418097484803312[184] = 0.0; + out_5916418097484803312[185] = 0.0; + out_5916418097484803312[186] = 0.0; + out_5916418097484803312[187] = 0.0; + out_5916418097484803312[188] = 0.0; + out_5916418097484803312[189] = 0.0; + out_5916418097484803312[190] = 1.0; + out_5916418097484803312[191] = 0.0; + out_5916418097484803312[192] = 0.0; + out_5916418097484803312[193] = 0.0; + out_5916418097484803312[194] = 0.0; + out_5916418097484803312[195] = 0.0; + out_5916418097484803312[196] = 0.0; + out_5916418097484803312[197] = 0.0; + out_5916418097484803312[198] = 0.0; + out_5916418097484803312[199] = 0.0; + out_5916418097484803312[200] = 0.0; + out_5916418097484803312[201] = 0.0; + out_5916418097484803312[202] = 0.0; + out_5916418097484803312[203] = 0.0; + out_5916418097484803312[204] = 0.0; + out_5916418097484803312[205] = 0.0; + out_5916418097484803312[206] = 0.0; + out_5916418097484803312[207] = 0.0; + out_5916418097484803312[208] = 0.0; + out_5916418097484803312[209] = 1.0; + out_5916418097484803312[210] = 0.0; + out_5916418097484803312[211] = 0.0; + out_5916418097484803312[212] = 0.0; + out_5916418097484803312[213] = 0.0; + out_5916418097484803312[214] = 0.0; + out_5916418097484803312[215] = 0.0; + out_5916418097484803312[216] = 0.0; + out_5916418097484803312[217] = 0.0; + out_5916418097484803312[218] = 0.0; + out_5916418097484803312[219] = 0.0; + out_5916418097484803312[220] = 0.0; + out_5916418097484803312[221] = 0.0; + out_5916418097484803312[222] = 0.0; + out_5916418097484803312[223] = 0.0; + out_5916418097484803312[224] = 0.0; + out_5916418097484803312[225] = 0.0; + out_5916418097484803312[226] = 0.0; + out_5916418097484803312[227] = 0.0; + out_5916418097484803312[228] = 1.0; + out_5916418097484803312[229] = 0.0; + out_5916418097484803312[230] = 0.0; + out_5916418097484803312[231] = 0.0; + out_5916418097484803312[232] = 0.0; + out_5916418097484803312[233] = 0.0; + out_5916418097484803312[234] = 0.0; + out_5916418097484803312[235] = 0.0; + out_5916418097484803312[236] = 0.0; + out_5916418097484803312[237] = 0.0; + out_5916418097484803312[238] = 0.0; + out_5916418097484803312[239] = 0.0; + out_5916418097484803312[240] = 0.0; + out_5916418097484803312[241] = 0.0; + out_5916418097484803312[242] = 0.0; + out_5916418097484803312[243] = 0.0; + out_5916418097484803312[244] = 0.0; + out_5916418097484803312[245] = 0.0; + out_5916418097484803312[246] = 0.0; + out_5916418097484803312[247] = 1.0; + out_5916418097484803312[248] = 0.0; + out_5916418097484803312[249] = 0.0; + out_5916418097484803312[250] = 0.0; + out_5916418097484803312[251] = 0.0; + out_5916418097484803312[252] = 0.0; + out_5916418097484803312[253] = 0.0; + out_5916418097484803312[254] = 0.0; + out_5916418097484803312[255] = 0.0; + out_5916418097484803312[256] = 0.0; + out_5916418097484803312[257] = 0.0; + out_5916418097484803312[258] = 0.0; + out_5916418097484803312[259] = 0.0; + out_5916418097484803312[260] = 0.0; + out_5916418097484803312[261] = 0.0; + out_5916418097484803312[262] = 0.0; + out_5916418097484803312[263] = 0.0; + out_5916418097484803312[264] = 0.0; + out_5916418097484803312[265] = 0.0; + out_5916418097484803312[266] = 1.0; + out_5916418097484803312[267] = 0.0; + out_5916418097484803312[268] = 0.0; + out_5916418097484803312[269] = 0.0; + out_5916418097484803312[270] = 0.0; + out_5916418097484803312[271] = 0.0; + out_5916418097484803312[272] = 0.0; + out_5916418097484803312[273] = 0.0; + out_5916418097484803312[274] = 0.0; + out_5916418097484803312[275] = 0.0; + out_5916418097484803312[276] = 0.0; + out_5916418097484803312[277] = 0.0; + out_5916418097484803312[278] = 0.0; + out_5916418097484803312[279] = 0.0; + out_5916418097484803312[280] = 0.0; + out_5916418097484803312[281] = 0.0; + out_5916418097484803312[282] = 0.0; + out_5916418097484803312[283] = 0.0; + out_5916418097484803312[284] = 0.0; + out_5916418097484803312[285] = 1.0; + out_5916418097484803312[286] = 0.0; + out_5916418097484803312[287] = 0.0; + out_5916418097484803312[288] = 0.0; + out_5916418097484803312[289] = 0.0; + out_5916418097484803312[290] = 0.0; + out_5916418097484803312[291] = 0.0; + out_5916418097484803312[292] = 0.0; + out_5916418097484803312[293] = 0.0; + out_5916418097484803312[294] = 0.0; + out_5916418097484803312[295] = 0.0; + out_5916418097484803312[296] = 0.0; + out_5916418097484803312[297] = 0.0; + out_5916418097484803312[298] = 0.0; + out_5916418097484803312[299] = 0.0; + out_5916418097484803312[300] = 0.0; + out_5916418097484803312[301] = 0.0; + out_5916418097484803312[302] = 0.0; + out_5916418097484803312[303] = 0.0; + out_5916418097484803312[304] = 1.0; + out_5916418097484803312[305] = 0.0; + out_5916418097484803312[306] = 0.0; + out_5916418097484803312[307] = 0.0; + out_5916418097484803312[308] = 0.0; + out_5916418097484803312[309] = 0.0; + out_5916418097484803312[310] = 0.0; + out_5916418097484803312[311] = 0.0; + out_5916418097484803312[312] = 0.0; + out_5916418097484803312[313] = 0.0; + out_5916418097484803312[314] = 0.0; + out_5916418097484803312[315] = 0.0; + out_5916418097484803312[316] = 0.0; + out_5916418097484803312[317] = 0.0; + out_5916418097484803312[318] = 0.0; + out_5916418097484803312[319] = 0.0; + out_5916418097484803312[320] = 0.0; + out_5916418097484803312[321] = 0.0; + out_5916418097484803312[322] = 0.0; + out_5916418097484803312[323] = 1.0; } -void f_fun(double *state, double dt, double *out_5063918395653700509) { - out_5063918395653700509[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_5063918395653700509[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_5063918395653700509[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_5063918395653700509[3] = dt*state[12] + state[3]; - out_5063918395653700509[4] = dt*state[13] + state[4]; - out_5063918395653700509[5] = dt*state[14] + state[5]; - out_5063918395653700509[6] = state[6]; - out_5063918395653700509[7] = state[7]; - out_5063918395653700509[8] = state[8]; - out_5063918395653700509[9] = state[9]; - out_5063918395653700509[10] = state[10]; - out_5063918395653700509[11] = state[11]; - out_5063918395653700509[12] = state[12]; - out_5063918395653700509[13] = state[13]; - out_5063918395653700509[14] = state[14]; - out_5063918395653700509[15] = state[15]; - out_5063918395653700509[16] = state[16]; - out_5063918395653700509[17] = state[17]; +void f_fun(double *state, double dt, double *out_1884549682660320153) { + out_1884549682660320153[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_1884549682660320153[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_1884549682660320153[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_1884549682660320153[3] = dt*state[12] + state[3]; + out_1884549682660320153[4] = dt*state[13] + state[4]; + out_1884549682660320153[5] = dt*state[14] + state[5]; + out_1884549682660320153[6] = state[6]; + out_1884549682660320153[7] = state[7]; + out_1884549682660320153[8] = state[8]; + out_1884549682660320153[9] = state[9]; + out_1884549682660320153[10] = state[10]; + out_1884549682660320153[11] = state[11]; + out_1884549682660320153[12] = state[12]; + out_1884549682660320153[13] = state[13]; + out_1884549682660320153[14] = state[14]; + out_1884549682660320153[15] = state[15]; + out_1884549682660320153[16] = state[16]; + out_1884549682660320153[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4470005302657516726) { - out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[2] = 0; - out_4470005302657516726[3] = 0; - out_4470005302657516726[4] = 0; - out_4470005302657516726[5] = 0; - out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[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_4470005302657516726[9] = 0; - out_4470005302657516726[10] = 0; - out_4470005302657516726[11] = 0; - out_4470005302657516726[12] = 0; - out_4470005302657516726[13] = 0; - out_4470005302657516726[14] = 0; - out_4470005302657516726[15] = 0; - out_4470005302657516726[16] = 0; - out_4470005302657516726[17] = 0; - out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[20] = 0; - out_4470005302657516726[21] = 0; - out_4470005302657516726[22] = 0; - out_4470005302657516726[23] = 0; - out_4470005302657516726[24] = 0; - out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[27] = 0; - out_4470005302657516726[28] = 0; - out_4470005302657516726[29] = 0; - out_4470005302657516726[30] = 0; - out_4470005302657516726[31] = 0; - out_4470005302657516726[32] = 0; - out_4470005302657516726[33] = 0; - out_4470005302657516726[34] = 0; - out_4470005302657516726[35] = 0; - out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[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_4470005302657516726[39] = 0; - out_4470005302657516726[40] = 0; - out_4470005302657516726[41] = 0; - out_4470005302657516726[42] = 0; - out_4470005302657516726[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_4470005302657516726[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_4470005302657516726[45] = 0; - out_4470005302657516726[46] = 0; - out_4470005302657516726[47] = 0; - out_4470005302657516726[48] = 0; - out_4470005302657516726[49] = 0; - out_4470005302657516726[50] = 0; - out_4470005302657516726[51] = 0; - out_4470005302657516726[52] = 0; - out_4470005302657516726[53] = 0; - out_4470005302657516726[54] = 0; - out_4470005302657516726[55] = 0; - out_4470005302657516726[56] = 0; - out_4470005302657516726[57] = 1; - out_4470005302657516726[58] = 0; - out_4470005302657516726[59] = 0; - out_4470005302657516726[60] = 0; - out_4470005302657516726[61] = 0; - out_4470005302657516726[62] = 0; - out_4470005302657516726[63] = 0; - out_4470005302657516726[64] = 0; - out_4470005302657516726[65] = 0; - out_4470005302657516726[66] = dt; - out_4470005302657516726[67] = 0; - out_4470005302657516726[68] = 0; - out_4470005302657516726[69] = 0; - out_4470005302657516726[70] = 0; - out_4470005302657516726[71] = 0; - out_4470005302657516726[72] = 0; - out_4470005302657516726[73] = 0; - out_4470005302657516726[74] = 0; - out_4470005302657516726[75] = 0; - out_4470005302657516726[76] = 1; - out_4470005302657516726[77] = 0; - out_4470005302657516726[78] = 0; - out_4470005302657516726[79] = 0; - out_4470005302657516726[80] = 0; - out_4470005302657516726[81] = 0; - out_4470005302657516726[82] = 0; - out_4470005302657516726[83] = 0; - out_4470005302657516726[84] = 0; - out_4470005302657516726[85] = dt; - out_4470005302657516726[86] = 0; - out_4470005302657516726[87] = 0; - out_4470005302657516726[88] = 0; - out_4470005302657516726[89] = 0; - out_4470005302657516726[90] = 0; - out_4470005302657516726[91] = 0; - out_4470005302657516726[92] = 0; - out_4470005302657516726[93] = 0; - out_4470005302657516726[94] = 0; - out_4470005302657516726[95] = 1; - out_4470005302657516726[96] = 0; - out_4470005302657516726[97] = 0; - out_4470005302657516726[98] = 0; - out_4470005302657516726[99] = 0; - out_4470005302657516726[100] = 0; - out_4470005302657516726[101] = 0; - out_4470005302657516726[102] = 0; - out_4470005302657516726[103] = 0; - out_4470005302657516726[104] = dt; - out_4470005302657516726[105] = 0; - out_4470005302657516726[106] = 0; - out_4470005302657516726[107] = 0; - out_4470005302657516726[108] = 0; - out_4470005302657516726[109] = 0; - out_4470005302657516726[110] = 0; - out_4470005302657516726[111] = 0; - out_4470005302657516726[112] = 0; - out_4470005302657516726[113] = 0; - out_4470005302657516726[114] = 1; - out_4470005302657516726[115] = 0; - out_4470005302657516726[116] = 0; - out_4470005302657516726[117] = 0; - out_4470005302657516726[118] = 0; - out_4470005302657516726[119] = 0; - out_4470005302657516726[120] = 0; - out_4470005302657516726[121] = 0; - out_4470005302657516726[122] = 0; - out_4470005302657516726[123] = 0; - out_4470005302657516726[124] = 0; - out_4470005302657516726[125] = 0; - out_4470005302657516726[126] = 0; - out_4470005302657516726[127] = 0; - out_4470005302657516726[128] = 0; - out_4470005302657516726[129] = 0; - out_4470005302657516726[130] = 0; - out_4470005302657516726[131] = 0; - out_4470005302657516726[132] = 0; - out_4470005302657516726[133] = 1; - out_4470005302657516726[134] = 0; - out_4470005302657516726[135] = 0; - out_4470005302657516726[136] = 0; - out_4470005302657516726[137] = 0; - out_4470005302657516726[138] = 0; - out_4470005302657516726[139] = 0; - out_4470005302657516726[140] = 0; - out_4470005302657516726[141] = 0; - out_4470005302657516726[142] = 0; - out_4470005302657516726[143] = 0; - out_4470005302657516726[144] = 0; - out_4470005302657516726[145] = 0; - out_4470005302657516726[146] = 0; - out_4470005302657516726[147] = 0; - out_4470005302657516726[148] = 0; - out_4470005302657516726[149] = 0; - out_4470005302657516726[150] = 0; - out_4470005302657516726[151] = 0; - out_4470005302657516726[152] = 1; - out_4470005302657516726[153] = 0; - out_4470005302657516726[154] = 0; - out_4470005302657516726[155] = 0; - out_4470005302657516726[156] = 0; - out_4470005302657516726[157] = 0; - out_4470005302657516726[158] = 0; - out_4470005302657516726[159] = 0; - out_4470005302657516726[160] = 0; - out_4470005302657516726[161] = 0; - out_4470005302657516726[162] = 0; - out_4470005302657516726[163] = 0; - out_4470005302657516726[164] = 0; - out_4470005302657516726[165] = 0; - out_4470005302657516726[166] = 0; - out_4470005302657516726[167] = 0; - out_4470005302657516726[168] = 0; - out_4470005302657516726[169] = 0; - out_4470005302657516726[170] = 0; - out_4470005302657516726[171] = 1; - out_4470005302657516726[172] = 0; - out_4470005302657516726[173] = 0; - out_4470005302657516726[174] = 0; - out_4470005302657516726[175] = 0; - out_4470005302657516726[176] = 0; - out_4470005302657516726[177] = 0; - out_4470005302657516726[178] = 0; - out_4470005302657516726[179] = 0; - out_4470005302657516726[180] = 0; - out_4470005302657516726[181] = 0; - out_4470005302657516726[182] = 0; - out_4470005302657516726[183] = 0; - out_4470005302657516726[184] = 0; - out_4470005302657516726[185] = 0; - out_4470005302657516726[186] = 0; - out_4470005302657516726[187] = 0; - out_4470005302657516726[188] = 0; - out_4470005302657516726[189] = 0; - out_4470005302657516726[190] = 1; - out_4470005302657516726[191] = 0; - out_4470005302657516726[192] = 0; - out_4470005302657516726[193] = 0; - out_4470005302657516726[194] = 0; - out_4470005302657516726[195] = 0; - out_4470005302657516726[196] = 0; - out_4470005302657516726[197] = 0; - out_4470005302657516726[198] = 0; - out_4470005302657516726[199] = 0; - out_4470005302657516726[200] = 0; - out_4470005302657516726[201] = 0; - out_4470005302657516726[202] = 0; - out_4470005302657516726[203] = 0; - out_4470005302657516726[204] = 0; - out_4470005302657516726[205] = 0; - out_4470005302657516726[206] = 0; - out_4470005302657516726[207] = 0; - out_4470005302657516726[208] = 0; - out_4470005302657516726[209] = 1; - out_4470005302657516726[210] = 0; - out_4470005302657516726[211] = 0; - out_4470005302657516726[212] = 0; - out_4470005302657516726[213] = 0; - out_4470005302657516726[214] = 0; - out_4470005302657516726[215] = 0; - out_4470005302657516726[216] = 0; - out_4470005302657516726[217] = 0; - out_4470005302657516726[218] = 0; - out_4470005302657516726[219] = 0; - out_4470005302657516726[220] = 0; - out_4470005302657516726[221] = 0; - out_4470005302657516726[222] = 0; - out_4470005302657516726[223] = 0; - out_4470005302657516726[224] = 0; - out_4470005302657516726[225] = 0; - out_4470005302657516726[226] = 0; - out_4470005302657516726[227] = 0; - out_4470005302657516726[228] = 1; - out_4470005302657516726[229] = 0; - out_4470005302657516726[230] = 0; - out_4470005302657516726[231] = 0; - out_4470005302657516726[232] = 0; - out_4470005302657516726[233] = 0; - out_4470005302657516726[234] = 0; - out_4470005302657516726[235] = 0; - out_4470005302657516726[236] = 0; - out_4470005302657516726[237] = 0; - out_4470005302657516726[238] = 0; - out_4470005302657516726[239] = 0; - out_4470005302657516726[240] = 0; - out_4470005302657516726[241] = 0; - out_4470005302657516726[242] = 0; - out_4470005302657516726[243] = 0; - out_4470005302657516726[244] = 0; - out_4470005302657516726[245] = 0; - out_4470005302657516726[246] = 0; - out_4470005302657516726[247] = 1; - out_4470005302657516726[248] = 0; - out_4470005302657516726[249] = 0; - out_4470005302657516726[250] = 0; - out_4470005302657516726[251] = 0; - out_4470005302657516726[252] = 0; - out_4470005302657516726[253] = 0; - out_4470005302657516726[254] = 0; - out_4470005302657516726[255] = 0; - out_4470005302657516726[256] = 0; - out_4470005302657516726[257] = 0; - out_4470005302657516726[258] = 0; - out_4470005302657516726[259] = 0; - out_4470005302657516726[260] = 0; - out_4470005302657516726[261] = 0; - out_4470005302657516726[262] = 0; - out_4470005302657516726[263] = 0; - out_4470005302657516726[264] = 0; - out_4470005302657516726[265] = 0; - out_4470005302657516726[266] = 1; - out_4470005302657516726[267] = 0; - out_4470005302657516726[268] = 0; - out_4470005302657516726[269] = 0; - out_4470005302657516726[270] = 0; - out_4470005302657516726[271] = 0; - out_4470005302657516726[272] = 0; - out_4470005302657516726[273] = 0; - out_4470005302657516726[274] = 0; - out_4470005302657516726[275] = 0; - out_4470005302657516726[276] = 0; - out_4470005302657516726[277] = 0; - out_4470005302657516726[278] = 0; - out_4470005302657516726[279] = 0; - out_4470005302657516726[280] = 0; - out_4470005302657516726[281] = 0; - out_4470005302657516726[282] = 0; - out_4470005302657516726[283] = 0; - out_4470005302657516726[284] = 0; - out_4470005302657516726[285] = 1; - out_4470005302657516726[286] = 0; - out_4470005302657516726[287] = 0; - out_4470005302657516726[288] = 0; - out_4470005302657516726[289] = 0; - out_4470005302657516726[290] = 0; - out_4470005302657516726[291] = 0; - out_4470005302657516726[292] = 0; - out_4470005302657516726[293] = 0; - out_4470005302657516726[294] = 0; - out_4470005302657516726[295] = 0; - out_4470005302657516726[296] = 0; - out_4470005302657516726[297] = 0; - out_4470005302657516726[298] = 0; - out_4470005302657516726[299] = 0; - out_4470005302657516726[300] = 0; - out_4470005302657516726[301] = 0; - out_4470005302657516726[302] = 0; - out_4470005302657516726[303] = 0; - out_4470005302657516726[304] = 1; - out_4470005302657516726[305] = 0; - out_4470005302657516726[306] = 0; - out_4470005302657516726[307] = 0; - out_4470005302657516726[308] = 0; - out_4470005302657516726[309] = 0; - out_4470005302657516726[310] = 0; - out_4470005302657516726[311] = 0; - out_4470005302657516726[312] = 0; - out_4470005302657516726[313] = 0; - out_4470005302657516726[314] = 0; - out_4470005302657516726[315] = 0; - out_4470005302657516726[316] = 0; - out_4470005302657516726[317] = 0; - out_4470005302657516726[318] = 0; - out_4470005302657516726[319] = 0; - out_4470005302657516726[320] = 0; - out_4470005302657516726[321] = 0; - out_4470005302657516726[322] = 0; - out_4470005302657516726[323] = 1; +void F_fun(double *state, double dt, double *out_2096520336867054981) { + out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[2] = 0; + out_2096520336867054981[3] = 0; + out_2096520336867054981[4] = 0; + out_2096520336867054981[5] = 0; + out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[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_2096520336867054981[9] = 0; + out_2096520336867054981[10] = 0; + out_2096520336867054981[11] = 0; + out_2096520336867054981[12] = 0; + out_2096520336867054981[13] = 0; + out_2096520336867054981[14] = 0; + out_2096520336867054981[15] = 0; + out_2096520336867054981[16] = 0; + out_2096520336867054981[17] = 0; + out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[20] = 0; + out_2096520336867054981[21] = 0; + out_2096520336867054981[22] = 0; + out_2096520336867054981[23] = 0; + out_2096520336867054981[24] = 0; + out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[27] = 0; + out_2096520336867054981[28] = 0; + out_2096520336867054981[29] = 0; + out_2096520336867054981[30] = 0; + out_2096520336867054981[31] = 0; + out_2096520336867054981[32] = 0; + out_2096520336867054981[33] = 0; + out_2096520336867054981[34] = 0; + out_2096520336867054981[35] = 0; + out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[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_2096520336867054981[39] = 0; + out_2096520336867054981[40] = 0; + out_2096520336867054981[41] = 0; + out_2096520336867054981[42] = 0; + out_2096520336867054981[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_2096520336867054981[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_2096520336867054981[45] = 0; + out_2096520336867054981[46] = 0; + out_2096520336867054981[47] = 0; + out_2096520336867054981[48] = 0; + out_2096520336867054981[49] = 0; + out_2096520336867054981[50] = 0; + out_2096520336867054981[51] = 0; + out_2096520336867054981[52] = 0; + out_2096520336867054981[53] = 0; + out_2096520336867054981[54] = 0; + out_2096520336867054981[55] = 0; + out_2096520336867054981[56] = 0; + out_2096520336867054981[57] = 1; + out_2096520336867054981[58] = 0; + out_2096520336867054981[59] = 0; + out_2096520336867054981[60] = 0; + out_2096520336867054981[61] = 0; + out_2096520336867054981[62] = 0; + out_2096520336867054981[63] = 0; + out_2096520336867054981[64] = 0; + out_2096520336867054981[65] = 0; + out_2096520336867054981[66] = dt; + out_2096520336867054981[67] = 0; + out_2096520336867054981[68] = 0; + out_2096520336867054981[69] = 0; + out_2096520336867054981[70] = 0; + out_2096520336867054981[71] = 0; + out_2096520336867054981[72] = 0; + out_2096520336867054981[73] = 0; + out_2096520336867054981[74] = 0; + out_2096520336867054981[75] = 0; + out_2096520336867054981[76] = 1; + out_2096520336867054981[77] = 0; + out_2096520336867054981[78] = 0; + out_2096520336867054981[79] = 0; + out_2096520336867054981[80] = 0; + out_2096520336867054981[81] = 0; + out_2096520336867054981[82] = 0; + out_2096520336867054981[83] = 0; + out_2096520336867054981[84] = 0; + out_2096520336867054981[85] = dt; + out_2096520336867054981[86] = 0; + out_2096520336867054981[87] = 0; + out_2096520336867054981[88] = 0; + out_2096520336867054981[89] = 0; + out_2096520336867054981[90] = 0; + out_2096520336867054981[91] = 0; + out_2096520336867054981[92] = 0; + out_2096520336867054981[93] = 0; + out_2096520336867054981[94] = 0; + out_2096520336867054981[95] = 1; + out_2096520336867054981[96] = 0; + out_2096520336867054981[97] = 0; + out_2096520336867054981[98] = 0; + out_2096520336867054981[99] = 0; + out_2096520336867054981[100] = 0; + out_2096520336867054981[101] = 0; + out_2096520336867054981[102] = 0; + out_2096520336867054981[103] = 0; + out_2096520336867054981[104] = dt; + out_2096520336867054981[105] = 0; + out_2096520336867054981[106] = 0; + out_2096520336867054981[107] = 0; + out_2096520336867054981[108] = 0; + out_2096520336867054981[109] = 0; + out_2096520336867054981[110] = 0; + out_2096520336867054981[111] = 0; + out_2096520336867054981[112] = 0; + out_2096520336867054981[113] = 0; + out_2096520336867054981[114] = 1; + out_2096520336867054981[115] = 0; + out_2096520336867054981[116] = 0; + out_2096520336867054981[117] = 0; + out_2096520336867054981[118] = 0; + out_2096520336867054981[119] = 0; + out_2096520336867054981[120] = 0; + out_2096520336867054981[121] = 0; + out_2096520336867054981[122] = 0; + out_2096520336867054981[123] = 0; + out_2096520336867054981[124] = 0; + out_2096520336867054981[125] = 0; + out_2096520336867054981[126] = 0; + out_2096520336867054981[127] = 0; + out_2096520336867054981[128] = 0; + out_2096520336867054981[129] = 0; + out_2096520336867054981[130] = 0; + out_2096520336867054981[131] = 0; + out_2096520336867054981[132] = 0; + out_2096520336867054981[133] = 1; + out_2096520336867054981[134] = 0; + out_2096520336867054981[135] = 0; + out_2096520336867054981[136] = 0; + out_2096520336867054981[137] = 0; + out_2096520336867054981[138] = 0; + out_2096520336867054981[139] = 0; + out_2096520336867054981[140] = 0; + out_2096520336867054981[141] = 0; + out_2096520336867054981[142] = 0; + out_2096520336867054981[143] = 0; + out_2096520336867054981[144] = 0; + out_2096520336867054981[145] = 0; + out_2096520336867054981[146] = 0; + out_2096520336867054981[147] = 0; + out_2096520336867054981[148] = 0; + out_2096520336867054981[149] = 0; + out_2096520336867054981[150] = 0; + out_2096520336867054981[151] = 0; + out_2096520336867054981[152] = 1; + out_2096520336867054981[153] = 0; + out_2096520336867054981[154] = 0; + out_2096520336867054981[155] = 0; + out_2096520336867054981[156] = 0; + out_2096520336867054981[157] = 0; + out_2096520336867054981[158] = 0; + out_2096520336867054981[159] = 0; + out_2096520336867054981[160] = 0; + out_2096520336867054981[161] = 0; + out_2096520336867054981[162] = 0; + out_2096520336867054981[163] = 0; + out_2096520336867054981[164] = 0; + out_2096520336867054981[165] = 0; + out_2096520336867054981[166] = 0; + out_2096520336867054981[167] = 0; + out_2096520336867054981[168] = 0; + out_2096520336867054981[169] = 0; + out_2096520336867054981[170] = 0; + out_2096520336867054981[171] = 1; + out_2096520336867054981[172] = 0; + out_2096520336867054981[173] = 0; + out_2096520336867054981[174] = 0; + out_2096520336867054981[175] = 0; + out_2096520336867054981[176] = 0; + out_2096520336867054981[177] = 0; + out_2096520336867054981[178] = 0; + out_2096520336867054981[179] = 0; + out_2096520336867054981[180] = 0; + out_2096520336867054981[181] = 0; + out_2096520336867054981[182] = 0; + out_2096520336867054981[183] = 0; + out_2096520336867054981[184] = 0; + out_2096520336867054981[185] = 0; + out_2096520336867054981[186] = 0; + out_2096520336867054981[187] = 0; + out_2096520336867054981[188] = 0; + out_2096520336867054981[189] = 0; + out_2096520336867054981[190] = 1; + out_2096520336867054981[191] = 0; + out_2096520336867054981[192] = 0; + out_2096520336867054981[193] = 0; + out_2096520336867054981[194] = 0; + out_2096520336867054981[195] = 0; + out_2096520336867054981[196] = 0; + out_2096520336867054981[197] = 0; + out_2096520336867054981[198] = 0; + out_2096520336867054981[199] = 0; + out_2096520336867054981[200] = 0; + out_2096520336867054981[201] = 0; + out_2096520336867054981[202] = 0; + out_2096520336867054981[203] = 0; + out_2096520336867054981[204] = 0; + out_2096520336867054981[205] = 0; + out_2096520336867054981[206] = 0; + out_2096520336867054981[207] = 0; + out_2096520336867054981[208] = 0; + out_2096520336867054981[209] = 1; + out_2096520336867054981[210] = 0; + out_2096520336867054981[211] = 0; + out_2096520336867054981[212] = 0; + out_2096520336867054981[213] = 0; + out_2096520336867054981[214] = 0; + out_2096520336867054981[215] = 0; + out_2096520336867054981[216] = 0; + out_2096520336867054981[217] = 0; + out_2096520336867054981[218] = 0; + out_2096520336867054981[219] = 0; + out_2096520336867054981[220] = 0; + out_2096520336867054981[221] = 0; + out_2096520336867054981[222] = 0; + out_2096520336867054981[223] = 0; + out_2096520336867054981[224] = 0; + out_2096520336867054981[225] = 0; + out_2096520336867054981[226] = 0; + out_2096520336867054981[227] = 0; + out_2096520336867054981[228] = 1; + out_2096520336867054981[229] = 0; + out_2096520336867054981[230] = 0; + out_2096520336867054981[231] = 0; + out_2096520336867054981[232] = 0; + out_2096520336867054981[233] = 0; + out_2096520336867054981[234] = 0; + out_2096520336867054981[235] = 0; + out_2096520336867054981[236] = 0; + out_2096520336867054981[237] = 0; + out_2096520336867054981[238] = 0; + out_2096520336867054981[239] = 0; + out_2096520336867054981[240] = 0; + out_2096520336867054981[241] = 0; + out_2096520336867054981[242] = 0; + out_2096520336867054981[243] = 0; + out_2096520336867054981[244] = 0; + out_2096520336867054981[245] = 0; + out_2096520336867054981[246] = 0; + out_2096520336867054981[247] = 1; + out_2096520336867054981[248] = 0; + out_2096520336867054981[249] = 0; + out_2096520336867054981[250] = 0; + out_2096520336867054981[251] = 0; + out_2096520336867054981[252] = 0; + out_2096520336867054981[253] = 0; + out_2096520336867054981[254] = 0; + out_2096520336867054981[255] = 0; + out_2096520336867054981[256] = 0; + out_2096520336867054981[257] = 0; + out_2096520336867054981[258] = 0; + out_2096520336867054981[259] = 0; + out_2096520336867054981[260] = 0; + out_2096520336867054981[261] = 0; + out_2096520336867054981[262] = 0; + out_2096520336867054981[263] = 0; + out_2096520336867054981[264] = 0; + out_2096520336867054981[265] = 0; + out_2096520336867054981[266] = 1; + out_2096520336867054981[267] = 0; + out_2096520336867054981[268] = 0; + out_2096520336867054981[269] = 0; + out_2096520336867054981[270] = 0; + out_2096520336867054981[271] = 0; + out_2096520336867054981[272] = 0; + out_2096520336867054981[273] = 0; + out_2096520336867054981[274] = 0; + out_2096520336867054981[275] = 0; + out_2096520336867054981[276] = 0; + out_2096520336867054981[277] = 0; + out_2096520336867054981[278] = 0; + out_2096520336867054981[279] = 0; + out_2096520336867054981[280] = 0; + out_2096520336867054981[281] = 0; + out_2096520336867054981[282] = 0; + out_2096520336867054981[283] = 0; + out_2096520336867054981[284] = 0; + out_2096520336867054981[285] = 1; + out_2096520336867054981[286] = 0; + out_2096520336867054981[287] = 0; + out_2096520336867054981[288] = 0; + out_2096520336867054981[289] = 0; + out_2096520336867054981[290] = 0; + out_2096520336867054981[291] = 0; + out_2096520336867054981[292] = 0; + out_2096520336867054981[293] = 0; + out_2096520336867054981[294] = 0; + out_2096520336867054981[295] = 0; + out_2096520336867054981[296] = 0; + out_2096520336867054981[297] = 0; + out_2096520336867054981[298] = 0; + out_2096520336867054981[299] = 0; + out_2096520336867054981[300] = 0; + out_2096520336867054981[301] = 0; + out_2096520336867054981[302] = 0; + out_2096520336867054981[303] = 0; + out_2096520336867054981[304] = 1; + out_2096520336867054981[305] = 0; + out_2096520336867054981[306] = 0; + out_2096520336867054981[307] = 0; + out_2096520336867054981[308] = 0; + out_2096520336867054981[309] = 0; + out_2096520336867054981[310] = 0; + out_2096520336867054981[311] = 0; + out_2096520336867054981[312] = 0; + out_2096520336867054981[313] = 0; + out_2096520336867054981[314] = 0; + out_2096520336867054981[315] = 0; + out_2096520336867054981[316] = 0; + out_2096520336867054981[317] = 0; + out_2096520336867054981[318] = 0; + out_2096520336867054981[319] = 0; + out_2096520336867054981[320] = 0; + out_2096520336867054981[321] = 0; + out_2096520336867054981[322] = 0; + out_2096520336867054981[323] = 1; } -void h_4(double *state, double *unused, double *out_6574127459206923931) { - out_6574127459206923931[0] = state[6] + state[9]; - out_6574127459206923931[1] = state[7] + state[10]; - out_6574127459206923931[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_2454407190288685983) { + out_2454407190288685983[0] = state[6] + state[9]; + out_2454407190288685983[1] = state[7] + state[10]; + out_2454407190288685983[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_8003561176394059243) { - out_8003561176394059243[0] = 0; - out_8003561176394059243[1] = 0; - out_8003561176394059243[2] = 0; - out_8003561176394059243[3] = 0; - out_8003561176394059243[4] = 0; - out_8003561176394059243[5] = 0; - out_8003561176394059243[6] = 1; - out_8003561176394059243[7] = 0; - out_8003561176394059243[8] = 0; - out_8003561176394059243[9] = 1; - out_8003561176394059243[10] = 0; - out_8003561176394059243[11] = 0; - out_8003561176394059243[12] = 0; - out_8003561176394059243[13] = 0; - out_8003561176394059243[14] = 0; - out_8003561176394059243[15] = 0; - out_8003561176394059243[16] = 0; - out_8003561176394059243[17] = 0; - out_8003561176394059243[18] = 0; - out_8003561176394059243[19] = 0; - out_8003561176394059243[20] = 0; - out_8003561176394059243[21] = 0; - out_8003561176394059243[22] = 0; - out_8003561176394059243[23] = 0; - out_8003561176394059243[24] = 0; - out_8003561176394059243[25] = 1; - out_8003561176394059243[26] = 0; - out_8003561176394059243[27] = 0; - out_8003561176394059243[28] = 1; - out_8003561176394059243[29] = 0; - out_8003561176394059243[30] = 0; - out_8003561176394059243[31] = 0; - out_8003561176394059243[32] = 0; - out_8003561176394059243[33] = 0; - out_8003561176394059243[34] = 0; - out_8003561176394059243[35] = 0; - out_8003561176394059243[36] = 0; - out_8003561176394059243[37] = 0; - out_8003561176394059243[38] = 0; - out_8003561176394059243[39] = 0; - out_8003561176394059243[40] = 0; - out_8003561176394059243[41] = 0; - out_8003561176394059243[42] = 0; - out_8003561176394059243[43] = 0; - out_8003561176394059243[44] = 1; - out_8003561176394059243[45] = 0; - out_8003561176394059243[46] = 0; - out_8003561176394059243[47] = 1; - out_8003561176394059243[48] = 0; - out_8003561176394059243[49] = 0; - out_8003561176394059243[50] = 0; - out_8003561176394059243[51] = 0; - out_8003561176394059243[52] = 0; - out_8003561176394059243[53] = 0; +void H_4(double *state, double *unused, double *out_6670579099539515919) { + out_6670579099539515919[0] = 0; + out_6670579099539515919[1] = 0; + out_6670579099539515919[2] = 0; + out_6670579099539515919[3] = 0; + out_6670579099539515919[4] = 0; + out_6670579099539515919[5] = 0; + out_6670579099539515919[6] = 1; + out_6670579099539515919[7] = 0; + out_6670579099539515919[8] = 0; + out_6670579099539515919[9] = 1; + out_6670579099539515919[10] = 0; + out_6670579099539515919[11] = 0; + out_6670579099539515919[12] = 0; + out_6670579099539515919[13] = 0; + out_6670579099539515919[14] = 0; + out_6670579099539515919[15] = 0; + out_6670579099539515919[16] = 0; + out_6670579099539515919[17] = 0; + out_6670579099539515919[18] = 0; + out_6670579099539515919[19] = 0; + out_6670579099539515919[20] = 0; + out_6670579099539515919[21] = 0; + out_6670579099539515919[22] = 0; + out_6670579099539515919[23] = 0; + out_6670579099539515919[24] = 0; + out_6670579099539515919[25] = 1; + out_6670579099539515919[26] = 0; + out_6670579099539515919[27] = 0; + out_6670579099539515919[28] = 1; + out_6670579099539515919[29] = 0; + out_6670579099539515919[30] = 0; + out_6670579099539515919[31] = 0; + out_6670579099539515919[32] = 0; + out_6670579099539515919[33] = 0; + out_6670579099539515919[34] = 0; + out_6670579099539515919[35] = 0; + out_6670579099539515919[36] = 0; + out_6670579099539515919[37] = 0; + out_6670579099539515919[38] = 0; + out_6670579099539515919[39] = 0; + out_6670579099539515919[40] = 0; + out_6670579099539515919[41] = 0; + out_6670579099539515919[42] = 0; + out_6670579099539515919[43] = 0; + out_6670579099539515919[44] = 1; + out_6670579099539515919[45] = 0; + out_6670579099539515919[46] = 0; + out_6670579099539515919[47] = 1; + out_6670579099539515919[48] = 0; + out_6670579099539515919[49] = 0; + out_6670579099539515919[50] = 0; + out_6670579099539515919[51] = 0; + out_6670579099539515919[52] = 0; + out_6670579099539515919[53] = 0; } -void h_10(double *state, double *unused, double *out_5886867664906462198) { - out_5886867664906462198[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_5886867664906462198[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_5886867664906462198[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_8369687601978266142) { + out_8369687601978266142[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_8369687601978266142[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_8369687601978266142[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_6245929205097449476) { - out_6245929205097449476[0] = 0; - out_6245929205097449476[1] = 9.8100000000000005*cos(state[1]); - out_6245929205097449476[2] = 0; - out_6245929205097449476[3] = 0; - out_6245929205097449476[4] = -state[8]; - out_6245929205097449476[5] = state[7]; - out_6245929205097449476[6] = 0; - out_6245929205097449476[7] = state[5]; - out_6245929205097449476[8] = -state[4]; - out_6245929205097449476[9] = 0; - out_6245929205097449476[10] = 0; - out_6245929205097449476[11] = 0; - out_6245929205097449476[12] = 1; - out_6245929205097449476[13] = 0; - out_6245929205097449476[14] = 0; - out_6245929205097449476[15] = 1; - out_6245929205097449476[16] = 0; - out_6245929205097449476[17] = 0; - out_6245929205097449476[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_6245929205097449476[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_6245929205097449476[20] = 0; - out_6245929205097449476[21] = state[8]; - out_6245929205097449476[22] = 0; - out_6245929205097449476[23] = -state[6]; - out_6245929205097449476[24] = -state[5]; - out_6245929205097449476[25] = 0; - out_6245929205097449476[26] = state[3]; - out_6245929205097449476[27] = 0; - out_6245929205097449476[28] = 0; - out_6245929205097449476[29] = 0; - out_6245929205097449476[30] = 0; - out_6245929205097449476[31] = 1; - out_6245929205097449476[32] = 0; - out_6245929205097449476[33] = 0; - out_6245929205097449476[34] = 1; - out_6245929205097449476[35] = 0; - out_6245929205097449476[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_6245929205097449476[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_6245929205097449476[38] = 0; - out_6245929205097449476[39] = -state[7]; - out_6245929205097449476[40] = state[6]; - out_6245929205097449476[41] = 0; - out_6245929205097449476[42] = state[4]; - out_6245929205097449476[43] = -state[3]; - out_6245929205097449476[44] = 0; - out_6245929205097449476[45] = 0; - out_6245929205097449476[46] = 0; - out_6245929205097449476[47] = 0; - out_6245929205097449476[48] = 0; - out_6245929205097449476[49] = 0; - out_6245929205097449476[50] = 1; - out_6245929205097449476[51] = 0; - out_6245929205097449476[52] = 0; - out_6245929205097449476[53] = 1; +void H_10(double *state, double *unused, double *out_7187578973007118545) { + out_7187578973007118545[0] = 0; + out_7187578973007118545[1] = 9.8100000000000005*cos(state[1]); + out_7187578973007118545[2] = 0; + out_7187578973007118545[3] = 0; + out_7187578973007118545[4] = -state[8]; + out_7187578973007118545[5] = state[7]; + out_7187578973007118545[6] = 0; + out_7187578973007118545[7] = state[5]; + out_7187578973007118545[8] = -state[4]; + out_7187578973007118545[9] = 0; + out_7187578973007118545[10] = 0; + out_7187578973007118545[11] = 0; + out_7187578973007118545[12] = 1; + out_7187578973007118545[13] = 0; + out_7187578973007118545[14] = 0; + out_7187578973007118545[15] = 1; + out_7187578973007118545[16] = 0; + out_7187578973007118545[17] = 0; + out_7187578973007118545[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_7187578973007118545[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_7187578973007118545[20] = 0; + out_7187578973007118545[21] = state[8]; + out_7187578973007118545[22] = 0; + out_7187578973007118545[23] = -state[6]; + out_7187578973007118545[24] = -state[5]; + out_7187578973007118545[25] = 0; + out_7187578973007118545[26] = state[3]; + out_7187578973007118545[27] = 0; + out_7187578973007118545[28] = 0; + out_7187578973007118545[29] = 0; + out_7187578973007118545[30] = 0; + out_7187578973007118545[31] = 1; + out_7187578973007118545[32] = 0; + out_7187578973007118545[33] = 0; + out_7187578973007118545[34] = 1; + out_7187578973007118545[35] = 0; + out_7187578973007118545[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_7187578973007118545[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_7187578973007118545[38] = 0; + out_7187578973007118545[39] = -state[7]; + out_7187578973007118545[40] = state[6]; + out_7187578973007118545[41] = 0; + out_7187578973007118545[42] = state[4]; + out_7187578973007118545[43] = -state[3]; + out_7187578973007118545[44] = 0; + out_7187578973007118545[45] = 0; + out_7187578973007118545[46] = 0; + out_7187578973007118545[47] = 0; + out_7187578973007118545[48] = 0; + out_7187578973007118545[49] = 0; + out_7187578973007118545[50] = 1; + out_7187578973007118545[51] = 0; + out_7187578973007118545[52] = 0; + out_7187578973007118545[53] = 1; } -void h_13(double *state, double *unused, double *out_3309926433150949848) { - out_3309926433150949848[0] = state[3]; - out_3309926433150949848[1] = state[4]; - out_3309926433150949848[2] = state[5]; +void h_13(double *state, double *unused, double *out_23418844804759200) { + out_23418844804759200[0] = state[3]; + out_23418844804759200[1] = state[4]; + out_23418844804759200[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2832551688998791444) { - out_2832551688998791444[0] = 0; - out_2832551688998791444[1] = 0; - out_2832551688998791444[2] = 0; - out_2832551688998791444[3] = 1; - out_2832551688998791444[4] = 0; - out_2832551688998791444[5] = 0; - out_2832551688998791444[6] = 0; - out_2832551688998791444[7] = 0; - out_2832551688998791444[8] = 0; - out_2832551688998791444[9] = 0; - out_2832551688998791444[10] = 0; - out_2832551688998791444[11] = 0; - out_2832551688998791444[12] = 0; - out_2832551688998791444[13] = 0; - out_2832551688998791444[14] = 0; - out_2832551688998791444[15] = 0; - out_2832551688998791444[16] = 0; - out_2832551688998791444[17] = 0; - out_2832551688998791444[18] = 0; - out_2832551688998791444[19] = 0; - out_2832551688998791444[20] = 0; - out_2832551688998791444[21] = 0; - out_2832551688998791444[22] = 1; - out_2832551688998791444[23] = 0; - out_2832551688998791444[24] = 0; - out_2832551688998791444[25] = 0; - out_2832551688998791444[26] = 0; - out_2832551688998791444[27] = 0; - out_2832551688998791444[28] = 0; - out_2832551688998791444[29] = 0; - out_2832551688998791444[30] = 0; - out_2832551688998791444[31] = 0; - out_2832551688998791444[32] = 0; - out_2832551688998791444[33] = 0; - out_2832551688998791444[34] = 0; - out_2832551688998791444[35] = 0; - out_2832551688998791444[36] = 0; - out_2832551688998791444[37] = 0; - out_2832551688998791444[38] = 0; - out_2832551688998791444[39] = 0; - out_2832551688998791444[40] = 0; - out_2832551688998791444[41] = 1; - out_2832551688998791444[42] = 0; - out_2832551688998791444[43] = 0; - out_2832551688998791444[44] = 0; - out_2832551688998791444[45] = 0; - out_2832551688998791444[46] = 0; - out_2832551688998791444[47] = 0; - out_2832551688998791444[48] = 0; - out_2832551688998791444[49] = 0; - out_2832551688998791444[50] = 0; - out_2832551688998791444[51] = 0; - out_2832551688998791444[52] = 0; - out_2832551688998791444[53] = 0; +void H_13(double *state, double *unused, double *out_4165533765853334768) { + out_4165533765853334768[0] = 0; + out_4165533765853334768[1] = 0; + out_4165533765853334768[2] = 0; + out_4165533765853334768[3] = 1; + out_4165533765853334768[4] = 0; + out_4165533765853334768[5] = 0; + out_4165533765853334768[6] = 0; + out_4165533765853334768[7] = 0; + out_4165533765853334768[8] = 0; + out_4165533765853334768[9] = 0; + out_4165533765853334768[10] = 0; + out_4165533765853334768[11] = 0; + out_4165533765853334768[12] = 0; + out_4165533765853334768[13] = 0; + out_4165533765853334768[14] = 0; + out_4165533765853334768[15] = 0; + out_4165533765853334768[16] = 0; + out_4165533765853334768[17] = 0; + out_4165533765853334768[18] = 0; + out_4165533765853334768[19] = 0; + out_4165533765853334768[20] = 0; + out_4165533765853334768[21] = 0; + out_4165533765853334768[22] = 1; + out_4165533765853334768[23] = 0; + out_4165533765853334768[24] = 0; + out_4165533765853334768[25] = 0; + out_4165533765853334768[26] = 0; + out_4165533765853334768[27] = 0; + out_4165533765853334768[28] = 0; + out_4165533765853334768[29] = 0; + out_4165533765853334768[30] = 0; + out_4165533765853334768[31] = 0; + out_4165533765853334768[32] = 0; + out_4165533765853334768[33] = 0; + out_4165533765853334768[34] = 0; + out_4165533765853334768[35] = 0; + out_4165533765853334768[36] = 0; + out_4165533765853334768[37] = 0; + out_4165533765853334768[38] = 0; + out_4165533765853334768[39] = 0; + out_4165533765853334768[40] = 0; + out_4165533765853334768[41] = 1; + out_4165533765853334768[42] = 0; + out_4165533765853334768[43] = 0; + out_4165533765853334768[44] = 0; + out_4165533765853334768[45] = 0; + out_4165533765853334768[46] = 0; + out_4165533765853334768[47] = 0; + out_4165533765853334768[48] = 0; + out_4165533765853334768[49] = 0; + out_4165533765853334768[50] = 0; + out_4165533765853334768[51] = 0; + out_4165533765853334768[52] = 0; + out_4165533765853334768[53] = 0; } -void h_14(double *state, double *unused, double *out_8057772104425340564) { - out_8057772104425340564[0] = state[6]; - out_8057772104425340564[1] = state[7]; - out_8057772104425340564[2] = state[8]; +void h_14(double *state, double *unused, double *out_3766794879461642001) { + out_3766794879461642001[0] = state[6]; + out_3766794879461642001[1] = state[7]; + out_3766794879461642001[2] = state[8]; } -void H_14(double *state, double *unused, double *out_6479942040976007844) { - out_6479942040976007844[0] = 0; - out_6479942040976007844[1] = 0; - out_6479942040976007844[2] = 0; - out_6479942040976007844[3] = 0; - out_6479942040976007844[4] = 0; - out_6479942040976007844[5] = 0; - out_6479942040976007844[6] = 1; - out_6479942040976007844[7] = 0; - out_6479942040976007844[8] = 0; - out_6479942040976007844[9] = 0; - out_6479942040976007844[10] = 0; - out_6479942040976007844[11] = 0; - out_6479942040976007844[12] = 0; - out_6479942040976007844[13] = 0; - out_6479942040976007844[14] = 0; - out_6479942040976007844[15] = 0; - out_6479942040976007844[16] = 0; - out_6479942040976007844[17] = 0; - out_6479942040976007844[18] = 0; - out_6479942040976007844[19] = 0; - out_6479942040976007844[20] = 0; - out_6479942040976007844[21] = 0; - out_6479942040976007844[22] = 0; - out_6479942040976007844[23] = 0; - out_6479942040976007844[24] = 0; - out_6479942040976007844[25] = 1; - out_6479942040976007844[26] = 0; - out_6479942040976007844[27] = 0; - out_6479942040976007844[28] = 0; - out_6479942040976007844[29] = 0; - out_6479942040976007844[30] = 0; - out_6479942040976007844[31] = 0; - out_6479942040976007844[32] = 0; - out_6479942040976007844[33] = 0; - out_6479942040976007844[34] = 0; - out_6479942040976007844[35] = 0; - out_6479942040976007844[36] = 0; - out_6479942040976007844[37] = 0; - out_6479942040976007844[38] = 0; - out_6479942040976007844[39] = 0; - out_6479942040976007844[40] = 0; - out_6479942040976007844[41] = 0; - out_6479942040976007844[42] = 0; - out_6479942040976007844[43] = 0; - out_6479942040976007844[44] = 1; - out_6479942040976007844[45] = 0; - out_6479942040976007844[46] = 0; - out_6479942040976007844[47] = 0; - out_6479942040976007844[48] = 0; - out_6479942040976007844[49] = 0; - out_6479942040976007844[50] = 0; - out_6479942040976007844[51] = 0; - out_6479942040976007844[52] = 0; - out_6479942040976007844[53] = 0; +void H_14(double *state, double *unused, double *out_7812924117830551168) { + out_7812924117830551168[0] = 0; + out_7812924117830551168[1] = 0; + out_7812924117830551168[2] = 0; + out_7812924117830551168[3] = 0; + out_7812924117830551168[4] = 0; + out_7812924117830551168[5] = 0; + out_7812924117830551168[6] = 1; + out_7812924117830551168[7] = 0; + out_7812924117830551168[8] = 0; + out_7812924117830551168[9] = 0; + out_7812924117830551168[10] = 0; + out_7812924117830551168[11] = 0; + out_7812924117830551168[12] = 0; + out_7812924117830551168[13] = 0; + out_7812924117830551168[14] = 0; + out_7812924117830551168[15] = 0; + out_7812924117830551168[16] = 0; + out_7812924117830551168[17] = 0; + out_7812924117830551168[18] = 0; + out_7812924117830551168[19] = 0; + out_7812924117830551168[20] = 0; + out_7812924117830551168[21] = 0; + out_7812924117830551168[22] = 0; + out_7812924117830551168[23] = 0; + out_7812924117830551168[24] = 0; + out_7812924117830551168[25] = 1; + out_7812924117830551168[26] = 0; + out_7812924117830551168[27] = 0; + out_7812924117830551168[28] = 0; + out_7812924117830551168[29] = 0; + out_7812924117830551168[30] = 0; + out_7812924117830551168[31] = 0; + out_7812924117830551168[32] = 0; + out_7812924117830551168[33] = 0; + out_7812924117830551168[34] = 0; + out_7812924117830551168[35] = 0; + out_7812924117830551168[36] = 0; + out_7812924117830551168[37] = 0; + out_7812924117830551168[38] = 0; + out_7812924117830551168[39] = 0; + out_7812924117830551168[40] = 0; + out_7812924117830551168[41] = 0; + out_7812924117830551168[42] = 0; + out_7812924117830551168[43] = 0; + out_7812924117830551168[44] = 1; + out_7812924117830551168[45] = 0; + out_7812924117830551168[46] = 0; + out_7812924117830551168[47] = 0; + out_7812924117830551168[48] = 0; + out_7812924117830551168[49] = 0; + out_7812924117830551168[50] = 0; + out_7812924117830551168[51] = 0; + out_7812924117830551168[52] = 0; + out_7812924117830551168[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_5896214411466158685) { - err_fun(nom_x, delta_x, out_5896214411466158685); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3190087603797747831) { + err_fun(nom_x, delta_x, out_3190087603797747831); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2659108696170388183) { - inv_err_fun(nom_x, true_x, out_2659108696170388183); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_509645540564194226) { + inv_err_fun(nom_x, true_x, out_509645540564194226); } -void pose_H_mod_fun(double *state, double *out_7168960818524543120) { - H_mod_fun(state, out_7168960818524543120); +void pose_H_mod_fun(double *state, double *out_5916418097484803312) { + H_mod_fun(state, out_5916418097484803312); } -void pose_f_fun(double *state, double dt, double *out_5063918395653700509) { - f_fun(state, dt, out_5063918395653700509); +void pose_f_fun(double *state, double dt, double *out_1884549682660320153) { + f_fun(state, dt, out_1884549682660320153); } -void pose_F_fun(double *state, double dt, double *out_4470005302657516726) { - F_fun(state, dt, out_4470005302657516726); +void pose_F_fun(double *state, double dt, double *out_2096520336867054981) { + F_fun(state, dt, out_2096520336867054981); } -void pose_h_4(double *state, double *unused, double *out_6574127459206923931) { - h_4(state, unused, out_6574127459206923931); +void pose_h_4(double *state, double *unused, double *out_2454407190288685983) { + h_4(state, unused, out_2454407190288685983); } -void pose_H_4(double *state, double *unused, double *out_8003561176394059243) { - H_4(state, unused, out_8003561176394059243); +void pose_H_4(double *state, double *unused, double *out_6670579099539515919) { + H_4(state, unused, out_6670579099539515919); } -void pose_h_10(double *state, double *unused, double *out_5886867664906462198) { - h_10(state, unused, out_5886867664906462198); +void pose_h_10(double *state, double *unused, double *out_8369687601978266142) { + h_10(state, unused, out_8369687601978266142); } -void pose_H_10(double *state, double *unused, double *out_6245929205097449476) { - H_10(state, unused, out_6245929205097449476); +void pose_H_10(double *state, double *unused, double *out_7187578973007118545) { + H_10(state, unused, out_7187578973007118545); } -void pose_h_13(double *state, double *unused, double *out_3309926433150949848) { - h_13(state, unused, out_3309926433150949848); +void pose_h_13(double *state, double *unused, double *out_23418844804759200) { + h_13(state, unused, out_23418844804759200); } -void pose_H_13(double *state, double *unused, double *out_2832551688998791444) { - H_13(state, unused, out_2832551688998791444); +void pose_H_13(double *state, double *unused, double *out_4165533765853334768) { + H_13(state, unused, out_4165533765853334768); } -void pose_h_14(double *state, double *unused, double *out_8057772104425340564) { - h_14(state, unused, out_8057772104425340564); +void pose_h_14(double *state, double *unused, double *out_3766794879461642001) { + h_14(state, unused, out_3766794879461642001); } -void pose_H_14(double *state, double *unused, double *out_6479942040976007844) { - H_14(state, unused, out_6479942040976007844); +void pose_H_14(double *state, double *unused, double *out_7812924117830551168) { + H_14(state, unused, out_7812924117830551168); } 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 b11810a32..24b8538b6 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_5896214411466158685); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2659108696170388183); -void pose_H_mod_fun(double *state, double *out_7168960818524543120); -void pose_f_fun(double *state, double dt, double *out_5063918395653700509); -void pose_F_fun(double *state, double dt, double *out_4470005302657516726); -void pose_h_4(double *state, double *unused, double *out_6574127459206923931); -void pose_H_4(double *state, double *unused, double *out_8003561176394059243); -void pose_h_10(double *state, double *unused, double *out_5886867664906462198); -void pose_H_10(double *state, double *unused, double *out_6245929205097449476); -void pose_h_13(double *state, double *unused, double *out_3309926433150949848); -void pose_H_13(double *state, double *unused, double *out_2832551688998791444); -void pose_h_14(double *state, double *unused, double *out_8057772104425340564); -void pose_H_14(double *state, double *unused, double *out_6479942040976007844); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3190087603797747831); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_509645540564194226); +void pose_H_mod_fun(double *state, double *out_5916418097484803312); +void pose_f_fun(double *state, double dt, double *out_1884549682660320153); +void pose_F_fun(double *state, double dt, double *out_2096520336867054981); +void pose_h_4(double *state, double *unused, double *out_2454407190288685983); +void pose_H_4(double *state, double *unused, double *out_6670579099539515919); +void pose_h_10(double *state, double *unused, double *out_8369687601978266142); +void pose_H_10(double *state, double *unused, double *out_7187578973007118545); +void pose_h_13(double *state, double *unused, double *out_23418844804759200); +void pose_H_13(double *state, double *unused, double *out_4165533765853334768); +void pose_h_14(double *state, double *unused, double *out_3766794879461642001); +void pose_H_14(double *state, double *unused, double *out_7812924117830551168); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index e6db95ee9..865f2fa74 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ