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differ diff --git a/panda/board/obj/bootstub.panda_jungle_h7.bin b/panda/board/obj/bootstub.panda_jungle_h7.bin index fd95d18696..43d9eddd6e 100755 Binary files a/panda/board/obj/bootstub.panda_jungle_h7.bin and b/panda/board/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_remote.bin b/panda/board/obj/bootstub.panda_remote.bin index a9a0c7ce16..4de0a000e9 100755 Binary files a/panda/board/obj/bootstub.panda_remote.bin and b/panda/board/obj/bootstub.panda_remote.bin differ diff --git a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin index a9a0c7ce16..4de0a000e9 100755 Binary files a/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin and b/panda/board/obj/bootstub.panda_remote_can_ignition_only.bin differ diff --git a/panda/board/obj/bootstub.panda_tesla_wake.bin b/panda/board/obj/bootstub.panda_tesla_wake.bin index a9a0c7ce16..4de0a000e9 100755 Binary files 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a/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf and b/panda/board/obj/panda_tesla_wake_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 6dd3d23f3e..50244ab918 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-e9b31807-DEBUG \ No newline at end of file +DEV-25df1b90-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 65f2e8eeb4..cc06fd6b1f 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_4276335218073679407) { - out_4276335218073679407[0] = delta_x[0] + nom_x[0]; - out_4276335218073679407[1] = delta_x[1] + nom_x[1]; - out_4276335218073679407[2] = delta_x[2] + nom_x[2]; - out_4276335218073679407[3] = delta_x[3] + nom_x[3]; - out_4276335218073679407[4] = delta_x[4] + nom_x[4]; - out_4276335218073679407[5] = delta_x[5] + nom_x[5]; - out_4276335218073679407[6] = delta_x[6] + nom_x[6]; - out_4276335218073679407[7] = delta_x[7] + nom_x[7]; - out_4276335218073679407[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7628497221553728992) { + out_7628497221553728992[0] = delta_x[0] + nom_x[0]; + out_7628497221553728992[1] = delta_x[1] + nom_x[1]; + out_7628497221553728992[2] = delta_x[2] + nom_x[2]; + out_7628497221553728992[3] = delta_x[3] + nom_x[3]; + out_7628497221553728992[4] = delta_x[4] + nom_x[4]; + out_7628497221553728992[5] = delta_x[5] + nom_x[5]; + out_7628497221553728992[6] = delta_x[6] + nom_x[6]; + out_7628497221553728992[7] = delta_x[7] + nom_x[7]; + out_7628497221553728992[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3738278089596769997) { - out_3738278089596769997[0] = -nom_x[0] + true_x[0]; - out_3738278089596769997[1] = -nom_x[1] + true_x[1]; - out_3738278089596769997[2] = -nom_x[2] + true_x[2]; - out_3738278089596769997[3] = -nom_x[3] + true_x[3]; - out_3738278089596769997[4] = -nom_x[4] + true_x[4]; - out_3738278089596769997[5] = -nom_x[5] + true_x[5]; - out_3738278089596769997[6] = -nom_x[6] + true_x[6]; - out_3738278089596769997[7] = -nom_x[7] + true_x[7]; - out_3738278089596769997[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4491489622993553759) { + out_4491489622993553759[0] = -nom_x[0] + true_x[0]; + out_4491489622993553759[1] = -nom_x[1] + true_x[1]; + out_4491489622993553759[2] = -nom_x[2] + true_x[2]; + out_4491489622993553759[3] = -nom_x[3] + true_x[3]; + out_4491489622993553759[4] = -nom_x[4] + true_x[4]; + out_4491489622993553759[5] = -nom_x[5] + true_x[5]; + out_4491489622993553759[6] = -nom_x[6] + true_x[6]; + out_4491489622993553759[7] = -nom_x[7] + true_x[7]; + out_4491489622993553759[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_8858046684809825962) { - out_8858046684809825962[0] = 1.0; - out_8858046684809825962[1] = 0.0; - out_8858046684809825962[2] = 0.0; - out_8858046684809825962[3] = 0.0; - out_8858046684809825962[4] = 0.0; - out_8858046684809825962[5] = 0.0; - out_8858046684809825962[6] = 0.0; - out_8858046684809825962[7] = 0.0; - out_8858046684809825962[8] = 0.0; - out_8858046684809825962[9] = 0.0; - out_8858046684809825962[10] = 1.0; - out_8858046684809825962[11] = 0.0; - out_8858046684809825962[12] = 0.0; - out_8858046684809825962[13] = 0.0; - out_8858046684809825962[14] = 0.0; - out_8858046684809825962[15] = 0.0; - out_8858046684809825962[16] = 0.0; - out_8858046684809825962[17] = 0.0; - out_8858046684809825962[18] = 0.0; - out_8858046684809825962[19] = 0.0; - out_8858046684809825962[20] = 1.0; - out_8858046684809825962[21] = 0.0; - out_8858046684809825962[22] = 0.0; - out_8858046684809825962[23] = 0.0; - out_8858046684809825962[24] = 0.0; - out_8858046684809825962[25] = 0.0; - out_8858046684809825962[26] = 0.0; - out_8858046684809825962[27] = 0.0; - out_8858046684809825962[28] = 0.0; - out_8858046684809825962[29] = 0.0; - out_8858046684809825962[30] = 1.0; - out_8858046684809825962[31] = 0.0; - out_8858046684809825962[32] = 0.0; - out_8858046684809825962[33] = 0.0; - out_8858046684809825962[34] = 0.0; - out_8858046684809825962[35] = 0.0; - out_8858046684809825962[36] = 0.0; - out_8858046684809825962[37] = 0.0; - out_8858046684809825962[38] = 0.0; - out_8858046684809825962[39] = 0.0; - out_8858046684809825962[40] = 1.0; - out_8858046684809825962[41] = 0.0; - out_8858046684809825962[42] = 0.0; - out_8858046684809825962[43] = 0.0; - out_8858046684809825962[44] = 0.0; - out_8858046684809825962[45] = 0.0; - out_8858046684809825962[46] = 0.0; - out_8858046684809825962[47] = 0.0; - out_8858046684809825962[48] = 0.0; - out_8858046684809825962[49] = 0.0; - out_8858046684809825962[50] = 1.0; - out_8858046684809825962[51] = 0.0; - out_8858046684809825962[52] = 0.0; - out_8858046684809825962[53] = 0.0; - out_8858046684809825962[54] = 0.0; - out_8858046684809825962[55] = 0.0; - out_8858046684809825962[56] = 0.0; - out_8858046684809825962[57] = 0.0; - out_8858046684809825962[58] = 0.0; - out_8858046684809825962[59] = 0.0; - out_8858046684809825962[60] = 1.0; - out_8858046684809825962[61] = 0.0; - out_8858046684809825962[62] = 0.0; - out_8858046684809825962[63] = 0.0; - out_8858046684809825962[64] = 0.0; - out_8858046684809825962[65] = 0.0; - out_8858046684809825962[66] = 0.0; - out_8858046684809825962[67] = 0.0; - out_8858046684809825962[68] = 0.0; - out_8858046684809825962[69] = 0.0; - out_8858046684809825962[70] = 1.0; - out_8858046684809825962[71] = 0.0; - out_8858046684809825962[72] = 0.0; - out_8858046684809825962[73] = 0.0; - out_8858046684809825962[74] = 0.0; - out_8858046684809825962[75] = 0.0; - out_8858046684809825962[76] = 0.0; - out_8858046684809825962[77] = 0.0; - out_8858046684809825962[78] = 0.0; - out_8858046684809825962[79] = 0.0; - out_8858046684809825962[80] = 1.0; +void H_mod_fun(double *state, double *out_4025689497106729796) { + out_4025689497106729796[0] = 1.0; + out_4025689497106729796[1] = 0.0; + out_4025689497106729796[2] = 0.0; + out_4025689497106729796[3] = 0.0; + out_4025689497106729796[4] = 0.0; + out_4025689497106729796[5] = 0.0; + out_4025689497106729796[6] = 0.0; + out_4025689497106729796[7] = 0.0; + out_4025689497106729796[8] = 0.0; + out_4025689497106729796[9] = 0.0; + out_4025689497106729796[10] = 1.0; + out_4025689497106729796[11] = 0.0; + out_4025689497106729796[12] = 0.0; + out_4025689497106729796[13] = 0.0; + out_4025689497106729796[14] = 0.0; + out_4025689497106729796[15] = 0.0; + out_4025689497106729796[16] = 0.0; + out_4025689497106729796[17] = 0.0; + out_4025689497106729796[18] = 0.0; + out_4025689497106729796[19] = 0.0; + out_4025689497106729796[20] = 1.0; + out_4025689497106729796[21] = 0.0; + out_4025689497106729796[22] = 0.0; + out_4025689497106729796[23] = 0.0; + out_4025689497106729796[24] = 0.0; + out_4025689497106729796[25] = 0.0; + out_4025689497106729796[26] = 0.0; + out_4025689497106729796[27] = 0.0; + out_4025689497106729796[28] = 0.0; + out_4025689497106729796[29] = 0.0; + out_4025689497106729796[30] = 1.0; + out_4025689497106729796[31] = 0.0; + out_4025689497106729796[32] = 0.0; + out_4025689497106729796[33] = 0.0; + out_4025689497106729796[34] = 0.0; + out_4025689497106729796[35] = 0.0; + out_4025689497106729796[36] = 0.0; + out_4025689497106729796[37] = 0.0; + out_4025689497106729796[38] = 0.0; + out_4025689497106729796[39] = 0.0; + out_4025689497106729796[40] = 1.0; + out_4025689497106729796[41] = 0.0; + out_4025689497106729796[42] = 0.0; + out_4025689497106729796[43] = 0.0; + out_4025689497106729796[44] = 0.0; + out_4025689497106729796[45] = 0.0; + out_4025689497106729796[46] = 0.0; + out_4025689497106729796[47] = 0.0; + out_4025689497106729796[48] = 0.0; + out_4025689497106729796[49] = 0.0; + out_4025689497106729796[50] = 1.0; + out_4025689497106729796[51] = 0.0; + out_4025689497106729796[52] = 0.0; + out_4025689497106729796[53] = 0.0; + out_4025689497106729796[54] = 0.0; + out_4025689497106729796[55] = 0.0; + out_4025689497106729796[56] = 0.0; + out_4025689497106729796[57] = 0.0; + out_4025689497106729796[58] = 0.0; + out_4025689497106729796[59] = 0.0; + out_4025689497106729796[60] = 1.0; + out_4025689497106729796[61] = 0.0; + out_4025689497106729796[62] = 0.0; + out_4025689497106729796[63] = 0.0; + out_4025689497106729796[64] = 0.0; + out_4025689497106729796[65] = 0.0; + out_4025689497106729796[66] = 0.0; + out_4025689497106729796[67] = 0.0; + out_4025689497106729796[68] = 0.0; + out_4025689497106729796[69] = 0.0; + out_4025689497106729796[70] = 1.0; + out_4025689497106729796[71] = 0.0; + out_4025689497106729796[72] = 0.0; + out_4025689497106729796[73] = 0.0; + out_4025689497106729796[74] = 0.0; + out_4025689497106729796[75] = 0.0; + out_4025689497106729796[76] = 0.0; + out_4025689497106729796[77] = 0.0; + out_4025689497106729796[78] = 0.0; + out_4025689497106729796[79] = 0.0; + out_4025689497106729796[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2600173016712354575) { - out_2600173016712354575[0] = state[0]; - out_2600173016712354575[1] = state[1]; - out_2600173016712354575[2] = state[2]; - out_2600173016712354575[3] = state[3]; - out_2600173016712354575[4] = state[4]; - out_2600173016712354575[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_2600173016712354575[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_2600173016712354575[7] = state[7]; - out_2600173016712354575[8] = state[8]; +void f_fun(double *state, double dt, double *out_1307275291988832241) { + out_1307275291988832241[0] = state[0]; + out_1307275291988832241[1] = state[1]; + out_1307275291988832241[2] = state[2]; + out_1307275291988832241[3] = state[3]; + out_1307275291988832241[4] = state[4]; + out_1307275291988832241[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_1307275291988832241[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_1307275291988832241[7] = state[7]; + out_1307275291988832241[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2418560584693982231) { - out_2418560584693982231[0] = 1; - out_2418560584693982231[1] = 0; - out_2418560584693982231[2] = 0; - out_2418560584693982231[3] = 0; - out_2418560584693982231[4] = 0; - out_2418560584693982231[5] = 0; - out_2418560584693982231[6] = 0; - out_2418560584693982231[7] = 0; - out_2418560584693982231[8] = 0; - out_2418560584693982231[9] = 0; - out_2418560584693982231[10] = 1; - out_2418560584693982231[11] = 0; - out_2418560584693982231[12] = 0; - out_2418560584693982231[13] = 0; - out_2418560584693982231[14] = 0; - out_2418560584693982231[15] = 0; - out_2418560584693982231[16] = 0; - out_2418560584693982231[17] = 0; - out_2418560584693982231[18] = 0; - out_2418560584693982231[19] = 0; - out_2418560584693982231[20] = 1; - out_2418560584693982231[21] = 0; - out_2418560584693982231[22] = 0; - out_2418560584693982231[23] = 0; - out_2418560584693982231[24] = 0; - out_2418560584693982231[25] = 0; - out_2418560584693982231[26] = 0; - out_2418560584693982231[27] = 0; - out_2418560584693982231[28] = 0; - out_2418560584693982231[29] = 0; - out_2418560584693982231[30] = 1; - out_2418560584693982231[31] = 0; - out_2418560584693982231[32] = 0; - out_2418560584693982231[33] = 0; - out_2418560584693982231[34] = 0; - out_2418560584693982231[35] = 0; - out_2418560584693982231[36] = 0; - out_2418560584693982231[37] = 0; - out_2418560584693982231[38] = 0; - out_2418560584693982231[39] = 0; - out_2418560584693982231[40] = 1; - out_2418560584693982231[41] = 0; - out_2418560584693982231[42] = 0; - out_2418560584693982231[43] = 0; - out_2418560584693982231[44] = 0; - out_2418560584693982231[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_2418560584693982231[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2418560584693982231[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2418560584693982231[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2418560584693982231[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_2418560584693982231[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2418560584693982231[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2418560584693982231[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2418560584693982231[53] = -9.8100000000000005*dt; - out_2418560584693982231[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_2418560584693982231[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2418560584693982231[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2418560584693982231[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2418560584693982231[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_2418560584693982231[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2418560584693982231[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_2418560584693982231[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2418560584693982231[62] = 0; - out_2418560584693982231[63] = 0; - out_2418560584693982231[64] = 0; - out_2418560584693982231[65] = 0; - out_2418560584693982231[66] = 0; - out_2418560584693982231[67] = 0; - out_2418560584693982231[68] = 0; - out_2418560584693982231[69] = 0; - out_2418560584693982231[70] = 1; - out_2418560584693982231[71] = 0; - out_2418560584693982231[72] = 0; - out_2418560584693982231[73] = 0; - out_2418560584693982231[74] = 0; - out_2418560584693982231[75] = 0; - out_2418560584693982231[76] = 0; - out_2418560584693982231[77] = 0; - out_2418560584693982231[78] = 0; - out_2418560584693982231[79] = 0; - out_2418560584693982231[80] = 1; +void F_fun(double *state, double dt, double *out_6482213034681649735) { + out_6482213034681649735[0] = 1; + out_6482213034681649735[1] = 0; + out_6482213034681649735[2] = 0; + out_6482213034681649735[3] = 0; + out_6482213034681649735[4] = 0; + out_6482213034681649735[5] = 0; + out_6482213034681649735[6] = 0; + out_6482213034681649735[7] = 0; + out_6482213034681649735[8] = 0; + out_6482213034681649735[9] = 0; + out_6482213034681649735[10] = 1; + out_6482213034681649735[11] = 0; + out_6482213034681649735[12] = 0; + out_6482213034681649735[13] = 0; + out_6482213034681649735[14] = 0; + out_6482213034681649735[15] = 0; + out_6482213034681649735[16] = 0; + out_6482213034681649735[17] = 0; + out_6482213034681649735[18] = 0; + out_6482213034681649735[19] = 0; + out_6482213034681649735[20] = 1; + out_6482213034681649735[21] = 0; + out_6482213034681649735[22] = 0; + out_6482213034681649735[23] = 0; + out_6482213034681649735[24] = 0; + out_6482213034681649735[25] = 0; + out_6482213034681649735[26] = 0; + out_6482213034681649735[27] = 0; + out_6482213034681649735[28] = 0; + out_6482213034681649735[29] = 0; + out_6482213034681649735[30] = 1; + out_6482213034681649735[31] = 0; + out_6482213034681649735[32] = 0; + out_6482213034681649735[33] = 0; + out_6482213034681649735[34] = 0; + out_6482213034681649735[35] = 0; + out_6482213034681649735[36] = 0; + out_6482213034681649735[37] = 0; + out_6482213034681649735[38] = 0; + out_6482213034681649735[39] = 0; + out_6482213034681649735[40] = 1; + out_6482213034681649735[41] = 0; + out_6482213034681649735[42] = 0; + out_6482213034681649735[43] = 0; + out_6482213034681649735[44] = 0; + out_6482213034681649735[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_6482213034681649735[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6482213034681649735[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6482213034681649735[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6482213034681649735[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_6482213034681649735[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6482213034681649735[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6482213034681649735[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6482213034681649735[53] = -9.8100000000000005*dt; + out_6482213034681649735[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_6482213034681649735[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6482213034681649735[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6482213034681649735[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6482213034681649735[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_6482213034681649735[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6482213034681649735[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_6482213034681649735[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6482213034681649735[62] = 0; + out_6482213034681649735[63] = 0; + out_6482213034681649735[64] = 0; + out_6482213034681649735[65] = 0; + out_6482213034681649735[66] = 0; + out_6482213034681649735[67] = 0; + out_6482213034681649735[68] = 0; + out_6482213034681649735[69] = 0; + out_6482213034681649735[70] = 1; + out_6482213034681649735[71] = 0; + out_6482213034681649735[72] = 0; + out_6482213034681649735[73] = 0; + out_6482213034681649735[74] = 0; + out_6482213034681649735[75] = 0; + out_6482213034681649735[76] = 0; + out_6482213034681649735[77] = 0; + out_6482213034681649735[78] = 0; + out_6482213034681649735[79] = 0; + out_6482213034681649735[80] = 1; } -void h_25(double *state, double *unused, double *out_7368322694207597671) { - out_7368322694207597671[0] = state[6]; +void h_25(double *state, double *unused, double *out_1838035438271359109) { + out_1838035438271359109[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2361023724919796011) { - out_2361023724919796011[0] = 0; - out_2361023724919796011[1] = 0; - out_2361023724919796011[2] = 0; - out_2361023724919796011[3] = 0; - out_2361023724919796011[4] = 0; - out_2361023724919796011[5] = 0; - out_2361023724919796011[6] = 1; - out_2361023724919796011[7] = 0; - out_2361023724919796011[8] = 0; +void H_25(double *state, double *unused, double *out_5167498728805507441) { + out_5167498728805507441[0] = 0; + out_5167498728805507441[1] = 0; + out_5167498728805507441[2] = 0; + out_5167498728805507441[3] = 0; + out_5167498728805507441[4] = 0; + out_5167498728805507441[5] = 0; + out_5167498728805507441[6] = 1; + out_5167498728805507441[7] = 0; + out_5167498728805507441[8] = 0; } -void h_24(double *state, double *unused, double *out_3157655832268166165) { - out_3157655832268166165[0] = state[4]; - out_3157655832268166165[1] = state[5]; +void h_24(double *state, double *unused, double *out_4340443045834773276) { + out_4340443045834773276[0] = state[4]; + out_4340443045834773276[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1890566242876457287) { - out_1890566242876457287[0] = 0; - out_1890566242876457287[1] = 0; - out_1890566242876457287[2] = 0; - out_1890566242876457287[3] = 0; - out_1890566242876457287[4] = 1; - out_1890566242876457287[5] = 0; - out_1890566242876457287[6] = 0; - out_1890566242876457287[7] = 0; - out_1890566242876457287[8] = 0; - out_1890566242876457287[9] = 0; - out_1890566242876457287[10] = 0; - out_1890566242876457287[11] = 0; - out_1890566242876457287[12] = 0; - out_1890566242876457287[13] = 0; - out_1890566242876457287[14] = 1; - out_1890566242876457287[15] = 0; - out_1890566242876457287[16] = 0; - out_1890566242876457287[17] = 0; +void H_24(double *state, double *unused, double *out_7340148327811007007) { + out_7340148327811007007[0] = 0; + out_7340148327811007007[1] = 0; + out_7340148327811007007[2] = 0; + out_7340148327811007007[3] = 0; + out_7340148327811007007[4] = 1; + out_7340148327811007007[5] = 0; + out_7340148327811007007[6] = 0; + out_7340148327811007007[7] = 0; + out_7340148327811007007[8] = 0; + out_7340148327811007007[9] = 0; + out_7340148327811007007[10] = 0; + out_7340148327811007007[11] = 0; + out_7340148327811007007[12] = 0; + out_7340148327811007007[13] = 0; + out_7340148327811007007[14] = 1; + out_7340148327811007007[15] = 0; + out_7340148327811007007[16] = 0; + out_7340148327811007007[17] = 0; } -void h_30(double *state, double *unused, double *out_3617862615253065620) { - out_3617862615253065620[0] = state[4]; +void h_30(double *state, double *unused, double *out_3476572610417626098) { + out_3476572610417626098[0] = state[4]; } -void H_30(double *state, double *unused, double *out_2166672605207812187) { - out_2166672605207812187[0] = 0; - out_2166672605207812187[1] = 0; - out_2166672605207812187[2] = 0; - out_2166672605207812187[3] = 0; - out_2166672605207812187[4] = 1; - out_2166672605207812187[5] = 0; - out_2166672605207812187[6] = 0; - out_2166672605207812187[7] = 0; - out_2166672605207812187[8] = 0; +void H_30(double *state, double *unused, double *out_1749191612686109314) { + out_1749191612686109314[0] = 0; + out_1749191612686109314[1] = 0; + out_1749191612686109314[2] = 0; + out_1749191612686109314[3] = 0; + out_1749191612686109314[4] = 1; + out_1749191612686109314[5] = 0; + out_1749191612686109314[6] = 0; + out_1749191612686109314[7] = 0; + out_1749191612686109314[8] = 0; } -void h_26(double *state, double *unused, double *out_5806150257954055878) { - out_5806150257954055878[0] = state[7]; +void h_26(double *state, double *unused, double *out_3922242655353979235) { + out_3922242655353979235[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1380479593954260213) { - out_1380479593954260213[0] = 0; - out_1380479593954260213[1] = 0; - out_1380479593954260213[2] = 0; - out_1380479593954260213[3] = 0; - out_1380479593954260213[4] = 0; - out_1380479593954260213[5] = 0; - out_1380479593954260213[6] = 0; - out_1380479593954260213[7] = 1; - out_1380479593954260213[8] = 0; +void H_26(double *state, double *unused, double *out_1862972759044706840) { + out_1862972759044706840[0] = 0; + out_1862972759044706840[1] = 0; + out_1862972759044706840[2] = 0; + out_1862972759044706840[3] = 0; + out_1862972759044706840[4] = 0; + out_1862972759044706840[5] = 0; + out_1862972759044706840[6] = 0; + out_1862972759044706840[7] = 1; + out_1862972759044706840[8] = 0; } -void h_27(double *state, double *unused, double *out_8727950225216967499) { - out_8727950225216967499[0] = state[3]; +void h_27(double *state, double *unused, double *out_7596020352265097065) { + out_7596020352265097065[0] = state[3]; } -void H_27(double *state, double *unused, double *out_56921465976131030) { - out_56921465976131030[0] = 0; - out_56921465976131030[1] = 0; - out_56921465976131030[2] = 0; - out_56921465976131030[3] = 1; - out_56921465976131030[4] = 0; - out_56921465976131030[5] = 0; - out_56921465976131030[6] = 0; - out_56921465976131030[7] = 0; - out_56921465976131030[8] = 0; +void H_27(double *state, double *unused, double *out_425571699114315597) { + out_425571699114315597[0] = 0; + out_425571699114315597[1] = 0; + out_425571699114315597[2] = 0; + out_425571699114315597[3] = 1; + out_425571699114315597[4] = 0; + out_425571699114315597[5] = 0; + out_425571699114315597[6] = 0; + out_425571699114315597[7] = 0; + out_425571699114315597[8] = 0; } -void h_29(double *state, double *unused, double *out_2947958622142233181) { - out_2947958622142233181[0] = state[1]; +void h_29(double *state, double *unused, double *out_4599627427431185905) { + out_4599627427431185905[0] = state[1]; } -void H_29(double *state, double *unused, double *out_1656441260893420003) { - out_1656441260893420003[0] = 0; - out_1656441260893420003[1] = 1; - out_1656441260893420003[2] = 0; - out_1656441260893420003[3] = 0; - out_1656441260893420003[4] = 0; - out_1656441260893420003[5] = 0; - out_1656441260893420003[6] = 0; - out_1656441260893420003[7] = 0; - out_1656441260893420003[8] = 0; +void H_29(double *state, double *unused, double *out_2259422957000501498) { + out_2259422957000501498[0] = 0; + out_2259422957000501498[1] = 1; + out_2259422957000501498[2] = 0; + out_2259422957000501498[3] = 0; + out_2259422957000501498[4] = 0; + out_2259422957000501498[5] = 0; + out_2259422957000501498[6] = 0; + out_2259422957000501498[7] = 0; + out_2259422957000501498[8] = 0; } -void h_28(double *state, double *unused, double *out_8124634340540489982) { - out_8124634340540489982[0] = state[0]; +void h_28(double *state, double *unused, double *out_8763764153341238802) { + out_8763764153341238802[0] = state[0]; } -void H_28(double *state, double *unused, double *out_6738840277962950577) { - out_6738840277962950577[0] = 1; - out_6738840277962950577[1] = 0; - out_6738840277962950577[2] = 0; - out_6738840277962950577[3] = 0; - out_6738840277962950577[4] = 0; - out_6738840277962950577[5] = 0; - out_6738840277962950577[6] = 0; - out_6738840277962950577[7] = 0; - out_6738840277962950577[8] = 0; +void H_28(double *state, double *unused, double *out_7221333443053397204) { + out_7221333443053397204[0] = 1; + out_7221333443053397204[1] = 0; + out_7221333443053397204[2] = 0; + out_7221333443053397204[3] = 0; + out_7221333443053397204[4] = 0; + out_7221333443053397204[5] = 0; + out_7221333443053397204[6] = 0; + out_7221333443053397204[7] = 0; + out_7221333443053397204[8] = 0; } -void h_31(double *state, double *unused, double *out_5966358236057140703) { - out_5966358236057140703[0] = state[8]; +void h_31(double *state, double *unused, double *out_7299681846412492073) { + out_7299681846412492073[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2391669686796756439) { - out_2391669686796756439[0] = 0; - out_2391669686796756439[1] = 0; - out_2391669686796756439[2] = 0; - out_2391669686796756439[3] = 0; - out_2391669686796756439[4] = 0; - out_2391669686796756439[5] = 0; - out_2391669686796756439[6] = 0; - out_2391669686796756439[7] = 0; - out_2391669686796756439[8] = 1; +void H_31(double *state, double *unused, double *out_1909176521706309812) { + out_1909176521706309812[0] = 0; + out_1909176521706309812[1] = 0; + out_1909176521706309812[2] = 0; + out_1909176521706309812[3] = 0; + out_1909176521706309812[4] = 0; + out_1909176521706309812[5] = 0; + out_1909176521706309812[6] = 0; + out_1909176521706309812[7] = 0; + out_1909176521706309812[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_4276335218073679407) { - err_fun(nom_x, delta_x, out_4276335218073679407); +void car_err_fun(double *nom_x, double *delta_x, double *out_7628497221553728992) { + err_fun(nom_x, delta_x, out_7628497221553728992); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3738278089596769997) { - inv_err_fun(nom_x, true_x, out_3738278089596769997); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4491489622993553759) { + inv_err_fun(nom_x, true_x, out_4491489622993553759); } -void car_H_mod_fun(double *state, double *out_8858046684809825962) { - H_mod_fun(state, out_8858046684809825962); +void car_H_mod_fun(double *state, double *out_4025689497106729796) { + H_mod_fun(state, out_4025689497106729796); } -void car_f_fun(double *state, double dt, double *out_2600173016712354575) { - f_fun(state, dt, out_2600173016712354575); +void car_f_fun(double *state, double dt, double *out_1307275291988832241) { + f_fun(state, dt, out_1307275291988832241); } -void car_F_fun(double *state, double dt, double *out_2418560584693982231) { - F_fun(state, dt, out_2418560584693982231); +void car_F_fun(double *state, double dt, double *out_6482213034681649735) { + F_fun(state, dt, out_6482213034681649735); } -void car_h_25(double *state, double *unused, double *out_7368322694207597671) { - h_25(state, unused, out_7368322694207597671); +void car_h_25(double *state, double *unused, double *out_1838035438271359109) { + h_25(state, unused, out_1838035438271359109); } -void car_H_25(double *state, double *unused, double *out_2361023724919796011) { - H_25(state, unused, out_2361023724919796011); +void car_H_25(double *state, double *unused, double *out_5167498728805507441) { + H_25(state, unused, out_5167498728805507441); } -void car_h_24(double *state, double *unused, double *out_3157655832268166165) { - h_24(state, unused, out_3157655832268166165); +void car_h_24(double *state, double *unused, double *out_4340443045834773276) { + h_24(state, unused, out_4340443045834773276); } -void car_H_24(double *state, double *unused, double *out_1890566242876457287) { - H_24(state, unused, out_1890566242876457287); +void car_H_24(double *state, double *unused, double *out_7340148327811007007) { + H_24(state, unused, out_7340148327811007007); } -void car_h_30(double *state, double *unused, double *out_3617862615253065620) { - h_30(state, unused, out_3617862615253065620); +void car_h_30(double *state, double *unused, double *out_3476572610417626098) { + h_30(state, unused, out_3476572610417626098); } -void car_H_30(double *state, double *unused, double *out_2166672605207812187) { - H_30(state, unused, out_2166672605207812187); +void car_H_30(double *state, double *unused, double *out_1749191612686109314) { + H_30(state, unused, out_1749191612686109314); } -void car_h_26(double *state, double *unused, double *out_5806150257954055878) { - h_26(state, unused, out_5806150257954055878); +void car_h_26(double *state, double *unused, double *out_3922242655353979235) { + h_26(state, unused, out_3922242655353979235); } -void car_H_26(double *state, double *unused, double *out_1380479593954260213) { - H_26(state, unused, out_1380479593954260213); +void car_H_26(double *state, double *unused, double *out_1862972759044706840) { + H_26(state, unused, out_1862972759044706840); } -void car_h_27(double *state, double *unused, double *out_8727950225216967499) { - h_27(state, unused, out_8727950225216967499); +void car_h_27(double *state, double *unused, double *out_7596020352265097065) { + h_27(state, unused, out_7596020352265097065); } -void car_H_27(double *state, double *unused, double *out_56921465976131030) { - H_27(state, unused, out_56921465976131030); +void car_H_27(double *state, double *unused, double *out_425571699114315597) { + H_27(state, unused, out_425571699114315597); } -void car_h_29(double *state, double *unused, double *out_2947958622142233181) { - h_29(state, unused, out_2947958622142233181); +void car_h_29(double *state, double *unused, double *out_4599627427431185905) { + h_29(state, unused, out_4599627427431185905); } -void car_H_29(double *state, double *unused, double *out_1656441260893420003) { - H_29(state, unused, out_1656441260893420003); +void car_H_29(double *state, double *unused, double *out_2259422957000501498) { + H_29(state, unused, out_2259422957000501498); } -void car_h_28(double *state, double *unused, double *out_8124634340540489982) { - h_28(state, unused, out_8124634340540489982); +void car_h_28(double *state, double *unused, double *out_8763764153341238802) { + h_28(state, unused, out_8763764153341238802); } -void car_H_28(double *state, double *unused, double *out_6738840277962950577) { - H_28(state, unused, out_6738840277962950577); +void car_H_28(double *state, double *unused, double *out_7221333443053397204) { + H_28(state, unused, out_7221333443053397204); } -void car_h_31(double *state, double *unused, double *out_5966358236057140703) { - h_31(state, unused, out_5966358236057140703); +void car_h_31(double *state, double *unused, double *out_7299681846412492073) { + h_31(state, unused, out_7299681846412492073); } -void car_H_31(double *state, double *unused, double *out_2391669686796756439) { - H_31(state, unused, out_2391669686796756439); +void car_H_31(double *state, double *unused, double *out_1909176521706309812) { + H_31(state, unused, out_1909176521706309812); } 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 95223cc68d..9318300171 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_4276335218073679407); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_3738278089596769997); -void car_H_mod_fun(double *state, double *out_8858046684809825962); -void car_f_fun(double *state, double dt, double *out_2600173016712354575); -void car_F_fun(double *state, double dt, double *out_2418560584693982231); -void car_h_25(double *state, double *unused, double *out_7368322694207597671); -void car_H_25(double *state, double *unused, double *out_2361023724919796011); -void car_h_24(double *state, double *unused, double *out_3157655832268166165); -void car_H_24(double *state, double *unused, double *out_1890566242876457287); -void car_h_30(double *state, double *unused, double *out_3617862615253065620); -void car_H_30(double *state, double *unused, double *out_2166672605207812187); -void car_h_26(double *state, double *unused, double *out_5806150257954055878); -void car_H_26(double *state, double *unused, double *out_1380479593954260213); -void car_h_27(double *state, double *unused, double *out_8727950225216967499); -void car_H_27(double *state, double *unused, double *out_56921465976131030); -void car_h_29(double *state, double *unused, double *out_2947958622142233181); -void car_H_29(double *state, double *unused, double *out_1656441260893420003); -void car_h_28(double *state, double *unused, double *out_8124634340540489982); -void car_H_28(double *state, double *unused, double *out_6738840277962950577); -void car_h_31(double *state, double *unused, double *out_5966358236057140703); -void car_H_31(double *state, double *unused, double *out_2391669686796756439); +void car_err_fun(double *nom_x, double *delta_x, double *out_7628497221553728992); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4491489622993553759); +void car_H_mod_fun(double *state, double *out_4025689497106729796); +void car_f_fun(double *state, double dt, double *out_1307275291988832241); +void car_F_fun(double *state, double dt, double *out_6482213034681649735); +void car_h_25(double *state, double *unused, double *out_1838035438271359109); +void car_H_25(double *state, double *unused, double *out_5167498728805507441); +void car_h_24(double *state, double *unused, double *out_4340443045834773276); +void car_H_24(double *state, double *unused, double *out_7340148327811007007); +void car_h_30(double *state, double *unused, double *out_3476572610417626098); +void car_H_30(double *state, double *unused, double *out_1749191612686109314); +void car_h_26(double *state, double *unused, double *out_3922242655353979235); +void car_H_26(double *state, double *unused, double *out_1862972759044706840); +void car_h_27(double *state, double *unused, double *out_7596020352265097065); +void car_H_27(double *state, double *unused, double *out_425571699114315597); +void car_h_29(double *state, double *unused, double *out_4599627427431185905); +void car_H_29(double *state, double *unused, double *out_2259422957000501498); +void car_h_28(double *state, double *unused, double *out_8763764153341238802); +void car_H_28(double *state, double *unused, double *out_7221333443053397204); +void car_h_31(double *state, double *unused, double *out_7299681846412492073); +void car_H_31(double *state, double *unused, double *out_1909176521706309812); 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 47fce596d2..ebd56df533 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_4115870174312830998) { - out_4115870174312830998[0] = delta_x[0] + nom_x[0]; - out_4115870174312830998[1] = delta_x[1] + nom_x[1]; - out_4115870174312830998[2] = delta_x[2] + nom_x[2]; - out_4115870174312830998[3] = delta_x[3] + nom_x[3]; - out_4115870174312830998[4] = delta_x[4] + nom_x[4]; - out_4115870174312830998[5] = delta_x[5] + nom_x[5]; - out_4115870174312830998[6] = delta_x[6] + nom_x[6]; - out_4115870174312830998[7] = delta_x[7] + nom_x[7]; - out_4115870174312830998[8] = delta_x[8] + nom_x[8]; - out_4115870174312830998[9] = delta_x[9] + nom_x[9]; - out_4115870174312830998[10] = delta_x[10] + nom_x[10]; - out_4115870174312830998[11] = delta_x[11] + nom_x[11]; - out_4115870174312830998[12] = delta_x[12] + nom_x[12]; - out_4115870174312830998[13] = delta_x[13] + nom_x[13]; - out_4115870174312830998[14] = delta_x[14] + nom_x[14]; - out_4115870174312830998[15] = delta_x[15] + nom_x[15]; - out_4115870174312830998[16] = delta_x[16] + nom_x[16]; - out_4115870174312830998[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_1334608923131309184) { + out_1334608923131309184[0] = delta_x[0] + nom_x[0]; + out_1334608923131309184[1] = delta_x[1] + nom_x[1]; + out_1334608923131309184[2] = delta_x[2] + nom_x[2]; + out_1334608923131309184[3] = delta_x[3] + nom_x[3]; + out_1334608923131309184[4] = delta_x[4] + nom_x[4]; + out_1334608923131309184[5] = delta_x[5] + nom_x[5]; + out_1334608923131309184[6] = delta_x[6] + nom_x[6]; + out_1334608923131309184[7] = delta_x[7] + nom_x[7]; + out_1334608923131309184[8] = delta_x[8] + nom_x[8]; + out_1334608923131309184[9] = delta_x[9] + nom_x[9]; + out_1334608923131309184[10] = delta_x[10] + nom_x[10]; + out_1334608923131309184[11] = delta_x[11] + nom_x[11]; + out_1334608923131309184[12] = delta_x[12] + nom_x[12]; + out_1334608923131309184[13] = delta_x[13] + nom_x[13]; + out_1334608923131309184[14] = delta_x[14] + nom_x[14]; + out_1334608923131309184[15] = delta_x[15] + nom_x[15]; + out_1334608923131309184[16] = delta_x[16] + nom_x[16]; + out_1334608923131309184[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2299838754417090386) { - out_2299838754417090386[0] = -nom_x[0] + true_x[0]; - out_2299838754417090386[1] = -nom_x[1] + true_x[1]; - out_2299838754417090386[2] = -nom_x[2] + true_x[2]; - out_2299838754417090386[3] = -nom_x[3] + true_x[3]; - out_2299838754417090386[4] = -nom_x[4] + true_x[4]; - out_2299838754417090386[5] = -nom_x[5] + true_x[5]; - out_2299838754417090386[6] = -nom_x[6] + true_x[6]; - out_2299838754417090386[7] = -nom_x[7] + true_x[7]; - out_2299838754417090386[8] = -nom_x[8] + true_x[8]; - out_2299838754417090386[9] = -nom_x[9] + true_x[9]; - out_2299838754417090386[10] = -nom_x[10] + true_x[10]; - out_2299838754417090386[11] = -nom_x[11] + true_x[11]; - out_2299838754417090386[12] = -nom_x[12] + true_x[12]; - out_2299838754417090386[13] = -nom_x[13] + true_x[13]; - out_2299838754417090386[14] = -nom_x[14] + true_x[14]; - out_2299838754417090386[15] = -nom_x[15] + true_x[15]; - out_2299838754417090386[16] = -nom_x[16] + true_x[16]; - out_2299838754417090386[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5362236298631416382) { + out_5362236298631416382[0] = -nom_x[0] + true_x[0]; + out_5362236298631416382[1] = -nom_x[1] + true_x[1]; + out_5362236298631416382[2] = -nom_x[2] + true_x[2]; + out_5362236298631416382[3] = -nom_x[3] + true_x[3]; + out_5362236298631416382[4] = -nom_x[4] + true_x[4]; + out_5362236298631416382[5] = -nom_x[5] + true_x[5]; + out_5362236298631416382[6] = -nom_x[6] + true_x[6]; + out_5362236298631416382[7] = -nom_x[7] + true_x[7]; + out_5362236298631416382[8] = -nom_x[8] + true_x[8]; + out_5362236298631416382[9] = -nom_x[9] + true_x[9]; + out_5362236298631416382[10] = -nom_x[10] + true_x[10]; + out_5362236298631416382[11] = -nom_x[11] + true_x[11]; + out_5362236298631416382[12] = -nom_x[12] + true_x[12]; + out_5362236298631416382[13] = -nom_x[13] + true_x[13]; + out_5362236298631416382[14] = -nom_x[14] + true_x[14]; + out_5362236298631416382[15] = -nom_x[15] + true_x[15]; + out_5362236298631416382[16] = -nom_x[16] + true_x[16]; + out_5362236298631416382[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_652375008318869169) { - out_652375008318869169[0] = 1.0; - out_652375008318869169[1] = 0.0; - out_652375008318869169[2] = 0.0; - out_652375008318869169[3] = 0.0; - out_652375008318869169[4] = 0.0; - out_652375008318869169[5] = 0.0; - out_652375008318869169[6] = 0.0; - out_652375008318869169[7] = 0.0; - out_652375008318869169[8] = 0.0; - out_652375008318869169[9] = 0.0; - out_652375008318869169[10] = 0.0; - out_652375008318869169[11] = 0.0; - out_652375008318869169[12] = 0.0; - out_652375008318869169[13] = 0.0; - out_652375008318869169[14] = 0.0; - out_652375008318869169[15] = 0.0; - out_652375008318869169[16] = 0.0; - out_652375008318869169[17] = 0.0; - out_652375008318869169[18] = 0.0; - out_652375008318869169[19] = 1.0; - out_652375008318869169[20] = 0.0; - out_652375008318869169[21] = 0.0; - out_652375008318869169[22] = 0.0; - out_652375008318869169[23] = 0.0; - out_652375008318869169[24] = 0.0; - out_652375008318869169[25] = 0.0; - out_652375008318869169[26] = 0.0; - out_652375008318869169[27] = 0.0; - out_652375008318869169[28] = 0.0; - out_652375008318869169[29] = 0.0; - out_652375008318869169[30] = 0.0; - out_652375008318869169[31] = 0.0; - out_652375008318869169[32] = 0.0; - out_652375008318869169[33] = 0.0; - out_652375008318869169[34] = 0.0; - out_652375008318869169[35] = 0.0; - out_652375008318869169[36] = 0.0; - out_652375008318869169[37] = 0.0; - out_652375008318869169[38] = 1.0; - out_652375008318869169[39] = 0.0; - out_652375008318869169[40] = 0.0; - out_652375008318869169[41] = 0.0; - out_652375008318869169[42] = 0.0; - out_652375008318869169[43] = 0.0; - out_652375008318869169[44] = 0.0; - out_652375008318869169[45] = 0.0; - out_652375008318869169[46] = 0.0; - out_652375008318869169[47] = 0.0; - out_652375008318869169[48] = 0.0; - out_652375008318869169[49] = 0.0; - out_652375008318869169[50] = 0.0; - out_652375008318869169[51] = 0.0; - out_652375008318869169[52] = 0.0; - out_652375008318869169[53] = 0.0; - out_652375008318869169[54] = 0.0; - out_652375008318869169[55] = 0.0; - out_652375008318869169[56] = 0.0; - out_652375008318869169[57] = 1.0; - out_652375008318869169[58] = 0.0; - out_652375008318869169[59] = 0.0; - out_652375008318869169[60] = 0.0; - out_652375008318869169[61] = 0.0; - out_652375008318869169[62] = 0.0; - out_652375008318869169[63] = 0.0; - out_652375008318869169[64] = 0.0; - out_652375008318869169[65] = 0.0; - out_652375008318869169[66] = 0.0; - out_652375008318869169[67] = 0.0; - out_652375008318869169[68] = 0.0; - out_652375008318869169[69] = 0.0; - out_652375008318869169[70] = 0.0; - out_652375008318869169[71] = 0.0; - out_652375008318869169[72] = 0.0; - out_652375008318869169[73] = 0.0; - out_652375008318869169[74] = 0.0; - out_652375008318869169[75] = 0.0; - out_652375008318869169[76] = 1.0; - out_652375008318869169[77] = 0.0; - out_652375008318869169[78] = 0.0; - out_652375008318869169[79] = 0.0; - out_652375008318869169[80] = 0.0; - out_652375008318869169[81] = 0.0; - out_652375008318869169[82] = 0.0; - out_652375008318869169[83] = 0.0; - out_652375008318869169[84] = 0.0; - out_652375008318869169[85] = 0.0; - out_652375008318869169[86] = 0.0; - out_652375008318869169[87] = 0.0; - out_652375008318869169[88] = 0.0; - out_652375008318869169[89] = 0.0; - out_652375008318869169[90] = 0.0; - out_652375008318869169[91] = 0.0; - out_652375008318869169[92] = 0.0; - out_652375008318869169[93] = 0.0; - out_652375008318869169[94] = 0.0; - out_652375008318869169[95] = 1.0; - out_652375008318869169[96] = 0.0; - out_652375008318869169[97] = 0.0; - out_652375008318869169[98] = 0.0; - out_652375008318869169[99] = 0.0; - out_652375008318869169[100] = 0.0; - out_652375008318869169[101] = 0.0; - out_652375008318869169[102] = 0.0; - out_652375008318869169[103] = 0.0; - out_652375008318869169[104] = 0.0; - out_652375008318869169[105] = 0.0; - out_652375008318869169[106] = 0.0; - out_652375008318869169[107] = 0.0; - out_652375008318869169[108] = 0.0; - out_652375008318869169[109] = 0.0; - out_652375008318869169[110] = 0.0; - out_652375008318869169[111] = 0.0; - out_652375008318869169[112] = 0.0; - out_652375008318869169[113] = 0.0; - out_652375008318869169[114] = 1.0; - out_652375008318869169[115] = 0.0; - out_652375008318869169[116] = 0.0; - out_652375008318869169[117] = 0.0; - out_652375008318869169[118] = 0.0; - out_652375008318869169[119] = 0.0; - out_652375008318869169[120] = 0.0; - out_652375008318869169[121] = 0.0; - out_652375008318869169[122] = 0.0; - out_652375008318869169[123] = 0.0; - out_652375008318869169[124] = 0.0; - out_652375008318869169[125] = 0.0; - out_652375008318869169[126] = 0.0; - out_652375008318869169[127] = 0.0; - out_652375008318869169[128] = 0.0; - out_652375008318869169[129] = 0.0; - out_652375008318869169[130] = 0.0; - out_652375008318869169[131] = 0.0; - out_652375008318869169[132] = 0.0; - out_652375008318869169[133] = 1.0; - out_652375008318869169[134] = 0.0; - out_652375008318869169[135] = 0.0; - out_652375008318869169[136] = 0.0; - out_652375008318869169[137] = 0.0; - out_652375008318869169[138] = 0.0; - out_652375008318869169[139] = 0.0; - out_652375008318869169[140] = 0.0; - out_652375008318869169[141] = 0.0; - out_652375008318869169[142] = 0.0; - out_652375008318869169[143] = 0.0; - out_652375008318869169[144] = 0.0; - out_652375008318869169[145] = 0.0; - out_652375008318869169[146] = 0.0; - out_652375008318869169[147] = 0.0; - out_652375008318869169[148] = 0.0; - out_652375008318869169[149] = 0.0; - out_652375008318869169[150] = 0.0; - out_652375008318869169[151] = 0.0; - out_652375008318869169[152] = 1.0; - out_652375008318869169[153] = 0.0; - out_652375008318869169[154] = 0.0; - out_652375008318869169[155] = 0.0; - out_652375008318869169[156] = 0.0; - out_652375008318869169[157] = 0.0; - out_652375008318869169[158] = 0.0; - out_652375008318869169[159] = 0.0; - out_652375008318869169[160] = 0.0; - out_652375008318869169[161] = 0.0; - out_652375008318869169[162] = 0.0; - out_652375008318869169[163] = 0.0; - out_652375008318869169[164] = 0.0; - out_652375008318869169[165] = 0.0; - out_652375008318869169[166] = 0.0; - out_652375008318869169[167] = 0.0; - out_652375008318869169[168] = 0.0; - out_652375008318869169[169] = 0.0; - out_652375008318869169[170] = 0.0; - out_652375008318869169[171] = 1.0; - out_652375008318869169[172] = 0.0; - out_652375008318869169[173] = 0.0; - out_652375008318869169[174] = 0.0; - out_652375008318869169[175] = 0.0; - out_652375008318869169[176] = 0.0; - out_652375008318869169[177] = 0.0; - out_652375008318869169[178] = 0.0; - out_652375008318869169[179] = 0.0; - out_652375008318869169[180] = 0.0; - out_652375008318869169[181] = 0.0; - out_652375008318869169[182] = 0.0; - out_652375008318869169[183] = 0.0; - out_652375008318869169[184] = 0.0; - out_652375008318869169[185] = 0.0; - out_652375008318869169[186] = 0.0; - out_652375008318869169[187] = 0.0; - out_652375008318869169[188] = 0.0; - out_652375008318869169[189] = 0.0; - out_652375008318869169[190] = 1.0; - out_652375008318869169[191] = 0.0; - out_652375008318869169[192] = 0.0; - out_652375008318869169[193] = 0.0; - out_652375008318869169[194] = 0.0; - out_652375008318869169[195] = 0.0; - out_652375008318869169[196] = 0.0; - out_652375008318869169[197] = 0.0; - out_652375008318869169[198] = 0.0; - out_652375008318869169[199] = 0.0; - out_652375008318869169[200] = 0.0; - out_652375008318869169[201] = 0.0; - out_652375008318869169[202] = 0.0; - out_652375008318869169[203] = 0.0; - out_652375008318869169[204] = 0.0; - out_652375008318869169[205] = 0.0; - out_652375008318869169[206] = 0.0; - out_652375008318869169[207] = 0.0; - out_652375008318869169[208] = 0.0; - out_652375008318869169[209] = 1.0; - out_652375008318869169[210] = 0.0; - out_652375008318869169[211] = 0.0; - out_652375008318869169[212] = 0.0; - out_652375008318869169[213] = 0.0; - out_652375008318869169[214] = 0.0; - out_652375008318869169[215] = 0.0; - out_652375008318869169[216] = 0.0; - out_652375008318869169[217] = 0.0; - out_652375008318869169[218] = 0.0; - out_652375008318869169[219] = 0.0; - out_652375008318869169[220] = 0.0; - out_652375008318869169[221] = 0.0; - out_652375008318869169[222] = 0.0; - out_652375008318869169[223] = 0.0; - out_652375008318869169[224] = 0.0; - out_652375008318869169[225] = 0.0; - out_652375008318869169[226] = 0.0; - out_652375008318869169[227] = 0.0; - out_652375008318869169[228] = 1.0; - out_652375008318869169[229] = 0.0; - out_652375008318869169[230] = 0.0; - out_652375008318869169[231] = 0.0; - out_652375008318869169[232] = 0.0; - out_652375008318869169[233] = 0.0; - out_652375008318869169[234] = 0.0; - out_652375008318869169[235] = 0.0; - out_652375008318869169[236] = 0.0; - out_652375008318869169[237] = 0.0; - out_652375008318869169[238] = 0.0; - out_652375008318869169[239] = 0.0; - out_652375008318869169[240] = 0.0; - out_652375008318869169[241] = 0.0; - out_652375008318869169[242] = 0.0; - out_652375008318869169[243] = 0.0; - out_652375008318869169[244] = 0.0; - out_652375008318869169[245] = 0.0; - out_652375008318869169[246] = 0.0; - out_652375008318869169[247] = 1.0; - out_652375008318869169[248] = 0.0; - out_652375008318869169[249] = 0.0; - out_652375008318869169[250] = 0.0; - out_652375008318869169[251] = 0.0; - out_652375008318869169[252] = 0.0; - out_652375008318869169[253] = 0.0; - out_652375008318869169[254] = 0.0; - out_652375008318869169[255] = 0.0; - out_652375008318869169[256] = 0.0; - out_652375008318869169[257] = 0.0; - out_652375008318869169[258] = 0.0; - out_652375008318869169[259] = 0.0; - out_652375008318869169[260] = 0.0; - out_652375008318869169[261] = 0.0; - out_652375008318869169[262] = 0.0; - out_652375008318869169[263] = 0.0; - out_652375008318869169[264] = 0.0; - out_652375008318869169[265] = 0.0; - out_652375008318869169[266] = 1.0; - out_652375008318869169[267] = 0.0; - out_652375008318869169[268] = 0.0; - out_652375008318869169[269] = 0.0; - out_652375008318869169[270] = 0.0; - out_652375008318869169[271] = 0.0; - out_652375008318869169[272] = 0.0; - out_652375008318869169[273] = 0.0; - out_652375008318869169[274] = 0.0; - out_652375008318869169[275] = 0.0; - out_652375008318869169[276] = 0.0; - out_652375008318869169[277] = 0.0; - out_652375008318869169[278] = 0.0; - out_652375008318869169[279] = 0.0; - out_652375008318869169[280] = 0.0; - out_652375008318869169[281] = 0.0; - out_652375008318869169[282] = 0.0; - out_652375008318869169[283] = 0.0; - out_652375008318869169[284] = 0.0; - out_652375008318869169[285] = 1.0; - out_652375008318869169[286] = 0.0; - out_652375008318869169[287] = 0.0; - out_652375008318869169[288] = 0.0; - out_652375008318869169[289] = 0.0; - out_652375008318869169[290] = 0.0; - out_652375008318869169[291] = 0.0; - out_652375008318869169[292] = 0.0; - out_652375008318869169[293] = 0.0; - out_652375008318869169[294] = 0.0; - out_652375008318869169[295] = 0.0; - out_652375008318869169[296] = 0.0; - out_652375008318869169[297] = 0.0; - out_652375008318869169[298] = 0.0; - out_652375008318869169[299] = 0.0; - out_652375008318869169[300] = 0.0; - out_652375008318869169[301] = 0.0; - out_652375008318869169[302] = 0.0; - out_652375008318869169[303] = 0.0; - out_652375008318869169[304] = 1.0; - out_652375008318869169[305] = 0.0; - out_652375008318869169[306] = 0.0; - out_652375008318869169[307] = 0.0; - out_652375008318869169[308] = 0.0; - out_652375008318869169[309] = 0.0; - out_652375008318869169[310] = 0.0; - out_652375008318869169[311] = 0.0; - out_652375008318869169[312] = 0.0; - out_652375008318869169[313] = 0.0; - out_652375008318869169[314] = 0.0; - out_652375008318869169[315] = 0.0; - out_652375008318869169[316] = 0.0; - out_652375008318869169[317] = 0.0; - out_652375008318869169[318] = 0.0; - out_652375008318869169[319] = 0.0; - out_652375008318869169[320] = 0.0; - out_652375008318869169[321] = 0.0; - out_652375008318869169[322] = 0.0; - out_652375008318869169[323] = 1.0; +void H_mod_fun(double *state, double *out_4765044121338691268) { + out_4765044121338691268[0] = 1.0; + out_4765044121338691268[1] = 0.0; + out_4765044121338691268[2] = 0.0; + out_4765044121338691268[3] = 0.0; + out_4765044121338691268[4] = 0.0; + out_4765044121338691268[5] = 0.0; + out_4765044121338691268[6] = 0.0; + out_4765044121338691268[7] = 0.0; + out_4765044121338691268[8] = 0.0; + out_4765044121338691268[9] = 0.0; + out_4765044121338691268[10] = 0.0; + out_4765044121338691268[11] = 0.0; + out_4765044121338691268[12] = 0.0; + out_4765044121338691268[13] = 0.0; + out_4765044121338691268[14] = 0.0; + out_4765044121338691268[15] = 0.0; + out_4765044121338691268[16] = 0.0; + out_4765044121338691268[17] = 0.0; + out_4765044121338691268[18] = 0.0; + out_4765044121338691268[19] = 1.0; + out_4765044121338691268[20] = 0.0; + out_4765044121338691268[21] = 0.0; + out_4765044121338691268[22] = 0.0; + out_4765044121338691268[23] = 0.0; + out_4765044121338691268[24] = 0.0; + out_4765044121338691268[25] = 0.0; + out_4765044121338691268[26] = 0.0; + out_4765044121338691268[27] = 0.0; + out_4765044121338691268[28] = 0.0; + out_4765044121338691268[29] = 0.0; + out_4765044121338691268[30] = 0.0; + out_4765044121338691268[31] = 0.0; + out_4765044121338691268[32] = 0.0; + out_4765044121338691268[33] = 0.0; + out_4765044121338691268[34] = 0.0; + out_4765044121338691268[35] = 0.0; + out_4765044121338691268[36] = 0.0; + out_4765044121338691268[37] = 0.0; + out_4765044121338691268[38] = 1.0; + out_4765044121338691268[39] = 0.0; + out_4765044121338691268[40] = 0.0; + out_4765044121338691268[41] = 0.0; + out_4765044121338691268[42] = 0.0; + out_4765044121338691268[43] = 0.0; + out_4765044121338691268[44] = 0.0; + out_4765044121338691268[45] = 0.0; + out_4765044121338691268[46] = 0.0; + out_4765044121338691268[47] = 0.0; + out_4765044121338691268[48] = 0.0; + out_4765044121338691268[49] = 0.0; + out_4765044121338691268[50] = 0.0; + out_4765044121338691268[51] = 0.0; + out_4765044121338691268[52] = 0.0; + out_4765044121338691268[53] = 0.0; + out_4765044121338691268[54] = 0.0; + out_4765044121338691268[55] = 0.0; + out_4765044121338691268[56] = 0.0; + out_4765044121338691268[57] = 1.0; + out_4765044121338691268[58] = 0.0; + out_4765044121338691268[59] = 0.0; + out_4765044121338691268[60] = 0.0; + out_4765044121338691268[61] = 0.0; + out_4765044121338691268[62] = 0.0; + out_4765044121338691268[63] = 0.0; + out_4765044121338691268[64] = 0.0; + out_4765044121338691268[65] = 0.0; + out_4765044121338691268[66] = 0.0; + out_4765044121338691268[67] = 0.0; + out_4765044121338691268[68] = 0.0; + out_4765044121338691268[69] = 0.0; + out_4765044121338691268[70] = 0.0; + out_4765044121338691268[71] = 0.0; + out_4765044121338691268[72] = 0.0; + out_4765044121338691268[73] = 0.0; + out_4765044121338691268[74] = 0.0; + out_4765044121338691268[75] = 0.0; + out_4765044121338691268[76] = 1.0; + out_4765044121338691268[77] = 0.0; + out_4765044121338691268[78] = 0.0; + out_4765044121338691268[79] = 0.0; + out_4765044121338691268[80] = 0.0; + out_4765044121338691268[81] = 0.0; + out_4765044121338691268[82] = 0.0; + out_4765044121338691268[83] = 0.0; + out_4765044121338691268[84] = 0.0; + out_4765044121338691268[85] = 0.0; + out_4765044121338691268[86] = 0.0; + out_4765044121338691268[87] = 0.0; + out_4765044121338691268[88] = 0.0; + out_4765044121338691268[89] = 0.0; + out_4765044121338691268[90] = 0.0; + out_4765044121338691268[91] = 0.0; + out_4765044121338691268[92] = 0.0; + out_4765044121338691268[93] = 0.0; + out_4765044121338691268[94] = 0.0; + out_4765044121338691268[95] = 1.0; + out_4765044121338691268[96] = 0.0; + out_4765044121338691268[97] = 0.0; + out_4765044121338691268[98] = 0.0; + out_4765044121338691268[99] = 0.0; + out_4765044121338691268[100] = 0.0; + out_4765044121338691268[101] = 0.0; + out_4765044121338691268[102] = 0.0; + out_4765044121338691268[103] = 0.0; + out_4765044121338691268[104] = 0.0; + out_4765044121338691268[105] = 0.0; + out_4765044121338691268[106] = 0.0; + out_4765044121338691268[107] = 0.0; + out_4765044121338691268[108] = 0.0; + out_4765044121338691268[109] = 0.0; + out_4765044121338691268[110] = 0.0; + out_4765044121338691268[111] = 0.0; + out_4765044121338691268[112] = 0.0; + out_4765044121338691268[113] = 0.0; + out_4765044121338691268[114] = 1.0; + out_4765044121338691268[115] = 0.0; + out_4765044121338691268[116] = 0.0; + out_4765044121338691268[117] = 0.0; + out_4765044121338691268[118] = 0.0; + out_4765044121338691268[119] = 0.0; + out_4765044121338691268[120] = 0.0; + out_4765044121338691268[121] = 0.0; + out_4765044121338691268[122] = 0.0; + out_4765044121338691268[123] = 0.0; + out_4765044121338691268[124] = 0.0; + out_4765044121338691268[125] = 0.0; + out_4765044121338691268[126] = 0.0; + out_4765044121338691268[127] = 0.0; + out_4765044121338691268[128] = 0.0; + out_4765044121338691268[129] = 0.0; + out_4765044121338691268[130] = 0.0; + out_4765044121338691268[131] = 0.0; + out_4765044121338691268[132] = 0.0; + out_4765044121338691268[133] = 1.0; + out_4765044121338691268[134] = 0.0; + out_4765044121338691268[135] = 0.0; + out_4765044121338691268[136] = 0.0; + out_4765044121338691268[137] = 0.0; + out_4765044121338691268[138] = 0.0; + out_4765044121338691268[139] = 0.0; + out_4765044121338691268[140] = 0.0; + out_4765044121338691268[141] = 0.0; + out_4765044121338691268[142] = 0.0; + out_4765044121338691268[143] = 0.0; + out_4765044121338691268[144] = 0.0; + out_4765044121338691268[145] = 0.0; + out_4765044121338691268[146] = 0.0; + out_4765044121338691268[147] = 0.0; + out_4765044121338691268[148] = 0.0; + out_4765044121338691268[149] = 0.0; + out_4765044121338691268[150] = 0.0; + out_4765044121338691268[151] = 0.0; + out_4765044121338691268[152] = 1.0; + out_4765044121338691268[153] = 0.0; + out_4765044121338691268[154] = 0.0; + out_4765044121338691268[155] = 0.0; + out_4765044121338691268[156] = 0.0; + out_4765044121338691268[157] = 0.0; + out_4765044121338691268[158] = 0.0; + out_4765044121338691268[159] = 0.0; + out_4765044121338691268[160] = 0.0; + out_4765044121338691268[161] = 0.0; + out_4765044121338691268[162] = 0.0; + out_4765044121338691268[163] = 0.0; + out_4765044121338691268[164] = 0.0; + out_4765044121338691268[165] = 0.0; + out_4765044121338691268[166] = 0.0; + out_4765044121338691268[167] = 0.0; + out_4765044121338691268[168] = 0.0; + out_4765044121338691268[169] = 0.0; + out_4765044121338691268[170] = 0.0; + out_4765044121338691268[171] = 1.0; + out_4765044121338691268[172] = 0.0; + out_4765044121338691268[173] = 0.0; + out_4765044121338691268[174] = 0.0; + out_4765044121338691268[175] = 0.0; + out_4765044121338691268[176] = 0.0; + out_4765044121338691268[177] = 0.0; + out_4765044121338691268[178] = 0.0; + out_4765044121338691268[179] = 0.0; + out_4765044121338691268[180] = 0.0; + out_4765044121338691268[181] = 0.0; + out_4765044121338691268[182] = 0.0; + out_4765044121338691268[183] = 0.0; + out_4765044121338691268[184] = 0.0; + out_4765044121338691268[185] = 0.0; + out_4765044121338691268[186] = 0.0; + out_4765044121338691268[187] = 0.0; + out_4765044121338691268[188] = 0.0; + out_4765044121338691268[189] = 0.0; + out_4765044121338691268[190] = 1.0; + out_4765044121338691268[191] = 0.0; + out_4765044121338691268[192] = 0.0; + out_4765044121338691268[193] = 0.0; + out_4765044121338691268[194] = 0.0; + out_4765044121338691268[195] = 0.0; + out_4765044121338691268[196] = 0.0; + out_4765044121338691268[197] = 0.0; + out_4765044121338691268[198] = 0.0; + out_4765044121338691268[199] = 0.0; + out_4765044121338691268[200] = 0.0; + out_4765044121338691268[201] = 0.0; + out_4765044121338691268[202] = 0.0; + out_4765044121338691268[203] = 0.0; + out_4765044121338691268[204] = 0.0; + out_4765044121338691268[205] = 0.0; + out_4765044121338691268[206] = 0.0; + out_4765044121338691268[207] = 0.0; + out_4765044121338691268[208] = 0.0; + out_4765044121338691268[209] = 1.0; + out_4765044121338691268[210] = 0.0; + out_4765044121338691268[211] = 0.0; + out_4765044121338691268[212] = 0.0; + out_4765044121338691268[213] = 0.0; + out_4765044121338691268[214] = 0.0; + out_4765044121338691268[215] = 0.0; + out_4765044121338691268[216] = 0.0; + out_4765044121338691268[217] = 0.0; + out_4765044121338691268[218] = 0.0; + out_4765044121338691268[219] = 0.0; + out_4765044121338691268[220] = 0.0; + out_4765044121338691268[221] = 0.0; + out_4765044121338691268[222] = 0.0; + out_4765044121338691268[223] = 0.0; + out_4765044121338691268[224] = 0.0; + out_4765044121338691268[225] = 0.0; + out_4765044121338691268[226] = 0.0; + out_4765044121338691268[227] = 0.0; + out_4765044121338691268[228] = 1.0; + out_4765044121338691268[229] = 0.0; + out_4765044121338691268[230] = 0.0; + out_4765044121338691268[231] = 0.0; + out_4765044121338691268[232] = 0.0; + out_4765044121338691268[233] = 0.0; + out_4765044121338691268[234] = 0.0; + out_4765044121338691268[235] = 0.0; + out_4765044121338691268[236] = 0.0; + out_4765044121338691268[237] = 0.0; + out_4765044121338691268[238] = 0.0; + out_4765044121338691268[239] = 0.0; + out_4765044121338691268[240] = 0.0; + out_4765044121338691268[241] = 0.0; + out_4765044121338691268[242] = 0.0; + out_4765044121338691268[243] = 0.0; + out_4765044121338691268[244] = 0.0; + out_4765044121338691268[245] = 0.0; + out_4765044121338691268[246] = 0.0; + out_4765044121338691268[247] = 1.0; + out_4765044121338691268[248] = 0.0; + out_4765044121338691268[249] = 0.0; + out_4765044121338691268[250] = 0.0; + out_4765044121338691268[251] = 0.0; + out_4765044121338691268[252] = 0.0; + out_4765044121338691268[253] = 0.0; + out_4765044121338691268[254] = 0.0; + out_4765044121338691268[255] = 0.0; + out_4765044121338691268[256] = 0.0; + out_4765044121338691268[257] = 0.0; + out_4765044121338691268[258] = 0.0; + out_4765044121338691268[259] = 0.0; + out_4765044121338691268[260] = 0.0; + out_4765044121338691268[261] = 0.0; + out_4765044121338691268[262] = 0.0; + out_4765044121338691268[263] = 0.0; + out_4765044121338691268[264] = 0.0; + out_4765044121338691268[265] = 0.0; + out_4765044121338691268[266] = 1.0; + out_4765044121338691268[267] = 0.0; + out_4765044121338691268[268] = 0.0; + out_4765044121338691268[269] = 0.0; + out_4765044121338691268[270] = 0.0; + out_4765044121338691268[271] = 0.0; + out_4765044121338691268[272] = 0.0; + out_4765044121338691268[273] = 0.0; + out_4765044121338691268[274] = 0.0; + out_4765044121338691268[275] = 0.0; + out_4765044121338691268[276] = 0.0; + out_4765044121338691268[277] = 0.0; + out_4765044121338691268[278] = 0.0; + out_4765044121338691268[279] = 0.0; + out_4765044121338691268[280] = 0.0; + out_4765044121338691268[281] = 0.0; + out_4765044121338691268[282] = 0.0; + out_4765044121338691268[283] = 0.0; + out_4765044121338691268[284] = 0.0; + out_4765044121338691268[285] = 1.0; + out_4765044121338691268[286] = 0.0; + out_4765044121338691268[287] = 0.0; + out_4765044121338691268[288] = 0.0; + out_4765044121338691268[289] = 0.0; + out_4765044121338691268[290] = 0.0; + out_4765044121338691268[291] = 0.0; + out_4765044121338691268[292] = 0.0; + out_4765044121338691268[293] = 0.0; + out_4765044121338691268[294] = 0.0; + out_4765044121338691268[295] = 0.0; + out_4765044121338691268[296] = 0.0; + out_4765044121338691268[297] = 0.0; + out_4765044121338691268[298] = 0.0; + out_4765044121338691268[299] = 0.0; + out_4765044121338691268[300] = 0.0; + out_4765044121338691268[301] = 0.0; + out_4765044121338691268[302] = 0.0; + out_4765044121338691268[303] = 0.0; + out_4765044121338691268[304] = 1.0; + out_4765044121338691268[305] = 0.0; + out_4765044121338691268[306] = 0.0; + out_4765044121338691268[307] = 0.0; + out_4765044121338691268[308] = 0.0; + out_4765044121338691268[309] = 0.0; + out_4765044121338691268[310] = 0.0; + out_4765044121338691268[311] = 0.0; + out_4765044121338691268[312] = 0.0; + out_4765044121338691268[313] = 0.0; + out_4765044121338691268[314] = 0.0; + out_4765044121338691268[315] = 0.0; + out_4765044121338691268[316] = 0.0; + out_4765044121338691268[317] = 0.0; + out_4765044121338691268[318] = 0.0; + out_4765044121338691268[319] = 0.0; + out_4765044121338691268[320] = 0.0; + out_4765044121338691268[321] = 0.0; + out_4765044121338691268[322] = 0.0; + out_4765044121338691268[323] = 1.0; } -void f_fun(double *state, double dt, double *out_1837308153381576760) { - out_1837308153381576760[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_1837308153381576760[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_1837308153381576760[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_1837308153381576760[3] = dt*state[12] + state[3]; - out_1837308153381576760[4] = dt*state[13] + state[4]; - out_1837308153381576760[5] = dt*state[14] + state[5]; - out_1837308153381576760[6] = state[6]; - out_1837308153381576760[7] = state[7]; - out_1837308153381576760[8] = state[8]; - out_1837308153381576760[9] = state[9]; - out_1837308153381576760[10] = state[10]; - out_1837308153381576760[11] = state[11]; - out_1837308153381576760[12] = state[12]; - out_1837308153381576760[13] = state[13]; - out_1837308153381576760[14] = state[14]; - out_1837308153381576760[15] = state[15]; - out_1837308153381576760[16] = state[16]; - out_1837308153381576760[17] = state[17]; +void f_fun(double *state, double dt, double *out_2590892121983961236) { + out_2590892121983961236[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_2590892121983961236[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_2590892121983961236[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_2590892121983961236[3] = dt*state[12] + state[3]; + out_2590892121983961236[4] = dt*state[13] + state[4]; + out_2590892121983961236[5] = dt*state[14] + state[5]; + out_2590892121983961236[6] = state[6]; + out_2590892121983961236[7] = state[7]; + out_2590892121983961236[8] = state[8]; + out_2590892121983961236[9] = state[9]; + out_2590892121983961236[10] = state[10]; + out_2590892121983961236[11] = state[11]; + out_2590892121983961236[12] = state[12]; + out_2590892121983961236[13] = state[13]; + out_2590892121983961236[14] = state[14]; + out_2590892121983961236[15] = state[15]; + out_2590892121983961236[16] = state[16]; + out_2590892121983961236[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4411443613772384488) { - out_4411443613772384488[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_4411443613772384488[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_4411443613772384488[2] = 0; - out_4411443613772384488[3] = 0; - out_4411443613772384488[4] = 0; - out_4411443613772384488[5] = 0; - out_4411443613772384488[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_4411443613772384488[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_4411443613772384488[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_4411443613772384488[9] = 0; - out_4411443613772384488[10] = 0; - out_4411443613772384488[11] = 0; - out_4411443613772384488[12] = 0; - out_4411443613772384488[13] = 0; - out_4411443613772384488[14] = 0; - out_4411443613772384488[15] = 0; - out_4411443613772384488[16] = 0; - out_4411443613772384488[17] = 0; - out_4411443613772384488[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_4411443613772384488[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_4411443613772384488[20] = 0; - out_4411443613772384488[21] = 0; - out_4411443613772384488[22] = 0; - out_4411443613772384488[23] = 0; - out_4411443613772384488[24] = 0; - out_4411443613772384488[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_4411443613772384488[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_4411443613772384488[27] = 0; - out_4411443613772384488[28] = 0; - out_4411443613772384488[29] = 0; - out_4411443613772384488[30] = 0; - out_4411443613772384488[31] = 0; - out_4411443613772384488[32] = 0; - out_4411443613772384488[33] = 0; - out_4411443613772384488[34] = 0; - out_4411443613772384488[35] = 0; - out_4411443613772384488[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_4411443613772384488[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_4411443613772384488[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_4411443613772384488[39] = 0; - out_4411443613772384488[40] = 0; - out_4411443613772384488[41] = 0; - out_4411443613772384488[42] = 0; - out_4411443613772384488[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_4411443613772384488[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_4411443613772384488[45] = 0; - out_4411443613772384488[46] = 0; - out_4411443613772384488[47] = 0; - out_4411443613772384488[48] = 0; - out_4411443613772384488[49] = 0; - out_4411443613772384488[50] = 0; - out_4411443613772384488[51] = 0; - out_4411443613772384488[52] = 0; - out_4411443613772384488[53] = 0; - out_4411443613772384488[54] = 0; - out_4411443613772384488[55] = 0; - out_4411443613772384488[56] = 0; - out_4411443613772384488[57] = 1; - out_4411443613772384488[58] = 0; - out_4411443613772384488[59] = 0; - out_4411443613772384488[60] = 0; - out_4411443613772384488[61] = 0; - out_4411443613772384488[62] = 0; - out_4411443613772384488[63] = 0; - out_4411443613772384488[64] = 0; - out_4411443613772384488[65] = 0; - out_4411443613772384488[66] = dt; - out_4411443613772384488[67] = 0; - out_4411443613772384488[68] = 0; - out_4411443613772384488[69] = 0; - out_4411443613772384488[70] = 0; - out_4411443613772384488[71] = 0; - out_4411443613772384488[72] = 0; - out_4411443613772384488[73] = 0; - out_4411443613772384488[74] = 0; - out_4411443613772384488[75] = 0; - out_4411443613772384488[76] = 1; - out_4411443613772384488[77] = 0; - out_4411443613772384488[78] = 0; - out_4411443613772384488[79] = 0; - out_4411443613772384488[80] = 0; - out_4411443613772384488[81] = 0; - out_4411443613772384488[82] = 0; - out_4411443613772384488[83] = 0; - out_4411443613772384488[84] = 0; - out_4411443613772384488[85] = dt; - out_4411443613772384488[86] = 0; - out_4411443613772384488[87] = 0; - out_4411443613772384488[88] = 0; - out_4411443613772384488[89] = 0; - out_4411443613772384488[90] = 0; - out_4411443613772384488[91] = 0; - out_4411443613772384488[92] = 0; - out_4411443613772384488[93] = 0; - out_4411443613772384488[94] = 0; - out_4411443613772384488[95] = 1; - out_4411443613772384488[96] = 0; - out_4411443613772384488[97] = 0; - out_4411443613772384488[98] = 0; - out_4411443613772384488[99] = 0; - out_4411443613772384488[100] = 0; - out_4411443613772384488[101] = 0; - out_4411443613772384488[102] = 0; - out_4411443613772384488[103] = 0; - out_4411443613772384488[104] = dt; - out_4411443613772384488[105] = 0; - out_4411443613772384488[106] = 0; - out_4411443613772384488[107] = 0; - out_4411443613772384488[108] = 0; - out_4411443613772384488[109] = 0; - out_4411443613772384488[110] = 0; - out_4411443613772384488[111] = 0; - out_4411443613772384488[112] = 0; - out_4411443613772384488[113] = 0; - out_4411443613772384488[114] = 1; - out_4411443613772384488[115] = 0; - out_4411443613772384488[116] = 0; - out_4411443613772384488[117] = 0; - out_4411443613772384488[118] = 0; - out_4411443613772384488[119] = 0; - out_4411443613772384488[120] = 0; - out_4411443613772384488[121] = 0; - out_4411443613772384488[122] = 0; - out_4411443613772384488[123] = 0; - out_4411443613772384488[124] = 0; - out_4411443613772384488[125] = 0; - out_4411443613772384488[126] = 0; - out_4411443613772384488[127] = 0; - out_4411443613772384488[128] = 0; - out_4411443613772384488[129] = 0; - out_4411443613772384488[130] = 0; - out_4411443613772384488[131] = 0; - out_4411443613772384488[132] = 0; - out_4411443613772384488[133] = 1; - out_4411443613772384488[134] = 0; - out_4411443613772384488[135] = 0; - out_4411443613772384488[136] = 0; - out_4411443613772384488[137] = 0; - out_4411443613772384488[138] = 0; - out_4411443613772384488[139] = 0; - out_4411443613772384488[140] = 0; - out_4411443613772384488[141] = 0; - out_4411443613772384488[142] = 0; - out_4411443613772384488[143] = 0; - out_4411443613772384488[144] = 0; - out_4411443613772384488[145] = 0; - out_4411443613772384488[146] = 0; - out_4411443613772384488[147] = 0; - out_4411443613772384488[148] = 0; - out_4411443613772384488[149] = 0; - out_4411443613772384488[150] = 0; - out_4411443613772384488[151] = 0; - out_4411443613772384488[152] = 1; - out_4411443613772384488[153] = 0; - out_4411443613772384488[154] = 0; - out_4411443613772384488[155] = 0; - out_4411443613772384488[156] = 0; - out_4411443613772384488[157] = 0; - out_4411443613772384488[158] = 0; - out_4411443613772384488[159] = 0; - out_4411443613772384488[160] = 0; - out_4411443613772384488[161] = 0; - out_4411443613772384488[162] = 0; - out_4411443613772384488[163] = 0; - out_4411443613772384488[164] = 0; - out_4411443613772384488[165] = 0; - out_4411443613772384488[166] = 0; - out_4411443613772384488[167] = 0; - out_4411443613772384488[168] = 0; - out_4411443613772384488[169] = 0; - out_4411443613772384488[170] = 0; - out_4411443613772384488[171] = 1; - out_4411443613772384488[172] = 0; - out_4411443613772384488[173] = 0; - out_4411443613772384488[174] = 0; - out_4411443613772384488[175] = 0; - out_4411443613772384488[176] = 0; - out_4411443613772384488[177] = 0; - out_4411443613772384488[178] = 0; - out_4411443613772384488[179] = 0; - out_4411443613772384488[180] = 0; - out_4411443613772384488[181] = 0; - out_4411443613772384488[182] = 0; - out_4411443613772384488[183] = 0; - out_4411443613772384488[184] = 0; - out_4411443613772384488[185] = 0; - out_4411443613772384488[186] = 0; - out_4411443613772384488[187] = 0; - out_4411443613772384488[188] = 0; - out_4411443613772384488[189] = 0; - out_4411443613772384488[190] = 1; - out_4411443613772384488[191] = 0; - out_4411443613772384488[192] = 0; - out_4411443613772384488[193] = 0; - out_4411443613772384488[194] = 0; - out_4411443613772384488[195] = 0; - out_4411443613772384488[196] = 0; - out_4411443613772384488[197] = 0; - out_4411443613772384488[198] = 0; - out_4411443613772384488[199] = 0; - out_4411443613772384488[200] = 0; - out_4411443613772384488[201] = 0; - out_4411443613772384488[202] = 0; - out_4411443613772384488[203] = 0; - out_4411443613772384488[204] = 0; - out_4411443613772384488[205] = 0; - out_4411443613772384488[206] = 0; - out_4411443613772384488[207] = 0; - out_4411443613772384488[208] = 0; - out_4411443613772384488[209] = 1; - out_4411443613772384488[210] = 0; - out_4411443613772384488[211] = 0; - out_4411443613772384488[212] = 0; - out_4411443613772384488[213] = 0; - out_4411443613772384488[214] = 0; - out_4411443613772384488[215] = 0; - out_4411443613772384488[216] = 0; - out_4411443613772384488[217] = 0; - out_4411443613772384488[218] = 0; - out_4411443613772384488[219] = 0; - out_4411443613772384488[220] = 0; - out_4411443613772384488[221] = 0; - out_4411443613772384488[222] = 0; - out_4411443613772384488[223] = 0; - out_4411443613772384488[224] = 0; - out_4411443613772384488[225] = 0; - out_4411443613772384488[226] = 0; - out_4411443613772384488[227] = 0; - out_4411443613772384488[228] = 1; - out_4411443613772384488[229] = 0; - out_4411443613772384488[230] = 0; - out_4411443613772384488[231] = 0; - out_4411443613772384488[232] = 0; - out_4411443613772384488[233] = 0; - out_4411443613772384488[234] = 0; - out_4411443613772384488[235] = 0; - out_4411443613772384488[236] = 0; - out_4411443613772384488[237] = 0; - out_4411443613772384488[238] = 0; - out_4411443613772384488[239] = 0; - out_4411443613772384488[240] = 0; - out_4411443613772384488[241] = 0; - out_4411443613772384488[242] = 0; - out_4411443613772384488[243] = 0; - out_4411443613772384488[244] = 0; - out_4411443613772384488[245] = 0; - out_4411443613772384488[246] = 0; - out_4411443613772384488[247] = 1; - out_4411443613772384488[248] = 0; - out_4411443613772384488[249] = 0; - out_4411443613772384488[250] = 0; - out_4411443613772384488[251] = 0; - out_4411443613772384488[252] = 0; - out_4411443613772384488[253] = 0; - out_4411443613772384488[254] = 0; - out_4411443613772384488[255] = 0; - out_4411443613772384488[256] = 0; - out_4411443613772384488[257] = 0; - out_4411443613772384488[258] = 0; - out_4411443613772384488[259] = 0; - out_4411443613772384488[260] = 0; - out_4411443613772384488[261] = 0; - out_4411443613772384488[262] = 0; - out_4411443613772384488[263] = 0; - out_4411443613772384488[264] = 0; - out_4411443613772384488[265] = 0; - out_4411443613772384488[266] = 1; - out_4411443613772384488[267] = 0; - out_4411443613772384488[268] = 0; - out_4411443613772384488[269] = 0; - out_4411443613772384488[270] = 0; - out_4411443613772384488[271] = 0; - out_4411443613772384488[272] = 0; - out_4411443613772384488[273] = 0; - out_4411443613772384488[274] = 0; - out_4411443613772384488[275] = 0; - out_4411443613772384488[276] = 0; - out_4411443613772384488[277] = 0; - out_4411443613772384488[278] = 0; - out_4411443613772384488[279] = 0; - out_4411443613772384488[280] = 0; - out_4411443613772384488[281] = 0; - out_4411443613772384488[282] = 0; - out_4411443613772384488[283] = 0; - out_4411443613772384488[284] = 0; - out_4411443613772384488[285] = 1; - out_4411443613772384488[286] = 0; - out_4411443613772384488[287] = 0; - out_4411443613772384488[288] = 0; - out_4411443613772384488[289] = 0; - out_4411443613772384488[290] = 0; - out_4411443613772384488[291] = 0; - out_4411443613772384488[292] = 0; - out_4411443613772384488[293] = 0; - out_4411443613772384488[294] = 0; - out_4411443613772384488[295] = 0; - out_4411443613772384488[296] = 0; - out_4411443613772384488[297] = 0; - out_4411443613772384488[298] = 0; - out_4411443613772384488[299] = 0; - out_4411443613772384488[300] = 0; - out_4411443613772384488[301] = 0; - out_4411443613772384488[302] = 0; - out_4411443613772384488[303] = 0; - out_4411443613772384488[304] = 1; - out_4411443613772384488[305] = 0; - out_4411443613772384488[306] = 0; - out_4411443613772384488[307] = 0; - out_4411443613772384488[308] = 0; - out_4411443613772384488[309] = 0; - out_4411443613772384488[310] = 0; - out_4411443613772384488[311] = 0; - out_4411443613772384488[312] = 0; - out_4411443613772384488[313] = 0; - out_4411443613772384488[314] = 0; - out_4411443613772384488[315] = 0; - out_4411443613772384488[316] = 0; - out_4411443613772384488[317] = 0; - out_4411443613772384488[318] = 0; - out_4411443613772384488[319] = 0; - out_4411443613772384488[320] = 0; - out_4411443613772384488[321] = 0; - out_4411443613772384488[322] = 0; - out_4411443613772384488[323] = 1; +void F_fun(double *state, double dt, double *out_6449160121632499508) { + out_6449160121632499508[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_6449160121632499508[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_6449160121632499508[2] = 0; + out_6449160121632499508[3] = 0; + out_6449160121632499508[4] = 0; + out_6449160121632499508[5] = 0; + out_6449160121632499508[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_6449160121632499508[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_6449160121632499508[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_6449160121632499508[9] = 0; + out_6449160121632499508[10] = 0; + out_6449160121632499508[11] = 0; + out_6449160121632499508[12] = 0; + out_6449160121632499508[13] = 0; + out_6449160121632499508[14] = 0; + out_6449160121632499508[15] = 0; + out_6449160121632499508[16] = 0; + out_6449160121632499508[17] = 0; + out_6449160121632499508[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_6449160121632499508[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_6449160121632499508[20] = 0; + out_6449160121632499508[21] = 0; + out_6449160121632499508[22] = 0; + out_6449160121632499508[23] = 0; + out_6449160121632499508[24] = 0; + out_6449160121632499508[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_6449160121632499508[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_6449160121632499508[27] = 0; + out_6449160121632499508[28] = 0; + out_6449160121632499508[29] = 0; + out_6449160121632499508[30] = 0; + out_6449160121632499508[31] = 0; + out_6449160121632499508[32] = 0; + out_6449160121632499508[33] = 0; + out_6449160121632499508[34] = 0; + out_6449160121632499508[35] = 0; + out_6449160121632499508[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_6449160121632499508[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_6449160121632499508[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_6449160121632499508[39] = 0; + out_6449160121632499508[40] = 0; + out_6449160121632499508[41] = 0; + out_6449160121632499508[42] = 0; + out_6449160121632499508[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_6449160121632499508[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_6449160121632499508[45] = 0; + out_6449160121632499508[46] = 0; + out_6449160121632499508[47] = 0; + out_6449160121632499508[48] = 0; + out_6449160121632499508[49] = 0; + out_6449160121632499508[50] = 0; + out_6449160121632499508[51] = 0; + out_6449160121632499508[52] = 0; + out_6449160121632499508[53] = 0; + out_6449160121632499508[54] = 0; + out_6449160121632499508[55] = 0; + out_6449160121632499508[56] = 0; + out_6449160121632499508[57] = 1; + out_6449160121632499508[58] = 0; + out_6449160121632499508[59] = 0; + out_6449160121632499508[60] = 0; + out_6449160121632499508[61] = 0; + out_6449160121632499508[62] = 0; + out_6449160121632499508[63] = 0; + out_6449160121632499508[64] = 0; + out_6449160121632499508[65] = 0; + out_6449160121632499508[66] = dt; + out_6449160121632499508[67] = 0; + out_6449160121632499508[68] = 0; + out_6449160121632499508[69] = 0; + out_6449160121632499508[70] = 0; + out_6449160121632499508[71] = 0; + out_6449160121632499508[72] = 0; + out_6449160121632499508[73] = 0; + out_6449160121632499508[74] = 0; + out_6449160121632499508[75] = 0; + out_6449160121632499508[76] = 1; + out_6449160121632499508[77] = 0; + out_6449160121632499508[78] = 0; + out_6449160121632499508[79] = 0; + out_6449160121632499508[80] = 0; + out_6449160121632499508[81] = 0; + out_6449160121632499508[82] = 0; + out_6449160121632499508[83] = 0; + out_6449160121632499508[84] = 0; + out_6449160121632499508[85] = dt; + out_6449160121632499508[86] = 0; + out_6449160121632499508[87] = 0; + out_6449160121632499508[88] = 0; + out_6449160121632499508[89] = 0; + out_6449160121632499508[90] = 0; + out_6449160121632499508[91] = 0; + out_6449160121632499508[92] = 0; + out_6449160121632499508[93] = 0; + out_6449160121632499508[94] = 0; + out_6449160121632499508[95] = 1; + out_6449160121632499508[96] = 0; + out_6449160121632499508[97] = 0; + out_6449160121632499508[98] = 0; + out_6449160121632499508[99] = 0; + out_6449160121632499508[100] = 0; + out_6449160121632499508[101] = 0; + out_6449160121632499508[102] = 0; + out_6449160121632499508[103] = 0; + out_6449160121632499508[104] = dt; + out_6449160121632499508[105] = 0; + out_6449160121632499508[106] = 0; + out_6449160121632499508[107] = 0; + out_6449160121632499508[108] = 0; + out_6449160121632499508[109] = 0; + out_6449160121632499508[110] = 0; + out_6449160121632499508[111] = 0; + out_6449160121632499508[112] = 0; + out_6449160121632499508[113] = 0; + out_6449160121632499508[114] = 1; + out_6449160121632499508[115] = 0; + out_6449160121632499508[116] = 0; + out_6449160121632499508[117] = 0; + out_6449160121632499508[118] = 0; + out_6449160121632499508[119] = 0; + out_6449160121632499508[120] = 0; + out_6449160121632499508[121] = 0; + out_6449160121632499508[122] = 0; + out_6449160121632499508[123] = 0; + out_6449160121632499508[124] = 0; + out_6449160121632499508[125] = 0; + out_6449160121632499508[126] = 0; + out_6449160121632499508[127] = 0; + out_6449160121632499508[128] = 0; + out_6449160121632499508[129] = 0; + out_6449160121632499508[130] = 0; + out_6449160121632499508[131] = 0; + out_6449160121632499508[132] = 0; + out_6449160121632499508[133] = 1; + out_6449160121632499508[134] = 0; + out_6449160121632499508[135] = 0; + out_6449160121632499508[136] = 0; + out_6449160121632499508[137] = 0; + out_6449160121632499508[138] = 0; + out_6449160121632499508[139] = 0; + out_6449160121632499508[140] = 0; + out_6449160121632499508[141] = 0; + out_6449160121632499508[142] = 0; + out_6449160121632499508[143] = 0; + out_6449160121632499508[144] = 0; + out_6449160121632499508[145] = 0; + out_6449160121632499508[146] = 0; + out_6449160121632499508[147] = 0; + out_6449160121632499508[148] = 0; + out_6449160121632499508[149] = 0; + out_6449160121632499508[150] = 0; + out_6449160121632499508[151] = 0; + out_6449160121632499508[152] = 1; + out_6449160121632499508[153] = 0; + out_6449160121632499508[154] = 0; + out_6449160121632499508[155] = 0; + out_6449160121632499508[156] = 0; + out_6449160121632499508[157] = 0; + out_6449160121632499508[158] = 0; + out_6449160121632499508[159] = 0; + out_6449160121632499508[160] = 0; + out_6449160121632499508[161] = 0; + out_6449160121632499508[162] = 0; + out_6449160121632499508[163] = 0; + out_6449160121632499508[164] = 0; + out_6449160121632499508[165] = 0; + out_6449160121632499508[166] = 0; + out_6449160121632499508[167] = 0; + out_6449160121632499508[168] = 0; + out_6449160121632499508[169] = 0; + out_6449160121632499508[170] = 0; + out_6449160121632499508[171] = 1; + out_6449160121632499508[172] = 0; + out_6449160121632499508[173] = 0; + out_6449160121632499508[174] = 0; + out_6449160121632499508[175] = 0; + out_6449160121632499508[176] = 0; + out_6449160121632499508[177] = 0; + out_6449160121632499508[178] = 0; + out_6449160121632499508[179] = 0; + out_6449160121632499508[180] = 0; + out_6449160121632499508[181] = 0; + out_6449160121632499508[182] = 0; + out_6449160121632499508[183] = 0; + out_6449160121632499508[184] = 0; + out_6449160121632499508[185] = 0; + out_6449160121632499508[186] = 0; + out_6449160121632499508[187] = 0; + out_6449160121632499508[188] = 0; + out_6449160121632499508[189] = 0; + out_6449160121632499508[190] = 1; + out_6449160121632499508[191] = 0; + out_6449160121632499508[192] = 0; + out_6449160121632499508[193] = 0; + out_6449160121632499508[194] = 0; + out_6449160121632499508[195] = 0; + out_6449160121632499508[196] = 0; + out_6449160121632499508[197] = 0; + out_6449160121632499508[198] = 0; + out_6449160121632499508[199] = 0; + out_6449160121632499508[200] = 0; + out_6449160121632499508[201] = 0; + out_6449160121632499508[202] = 0; + out_6449160121632499508[203] = 0; + out_6449160121632499508[204] = 0; + out_6449160121632499508[205] = 0; + out_6449160121632499508[206] = 0; + out_6449160121632499508[207] = 0; + out_6449160121632499508[208] = 0; + out_6449160121632499508[209] = 1; + out_6449160121632499508[210] = 0; + out_6449160121632499508[211] = 0; + out_6449160121632499508[212] = 0; + out_6449160121632499508[213] = 0; + out_6449160121632499508[214] = 0; + out_6449160121632499508[215] = 0; + out_6449160121632499508[216] = 0; + out_6449160121632499508[217] = 0; + out_6449160121632499508[218] = 0; + out_6449160121632499508[219] = 0; + out_6449160121632499508[220] = 0; + out_6449160121632499508[221] = 0; + out_6449160121632499508[222] = 0; + out_6449160121632499508[223] = 0; + out_6449160121632499508[224] = 0; + out_6449160121632499508[225] = 0; + out_6449160121632499508[226] = 0; + out_6449160121632499508[227] = 0; + out_6449160121632499508[228] = 1; + out_6449160121632499508[229] = 0; + out_6449160121632499508[230] = 0; + out_6449160121632499508[231] = 0; + out_6449160121632499508[232] = 0; + out_6449160121632499508[233] = 0; + out_6449160121632499508[234] = 0; + out_6449160121632499508[235] = 0; + out_6449160121632499508[236] = 0; + out_6449160121632499508[237] = 0; + out_6449160121632499508[238] = 0; + out_6449160121632499508[239] = 0; + out_6449160121632499508[240] = 0; + out_6449160121632499508[241] = 0; + out_6449160121632499508[242] = 0; + out_6449160121632499508[243] = 0; + out_6449160121632499508[244] = 0; + out_6449160121632499508[245] = 0; + out_6449160121632499508[246] = 0; + out_6449160121632499508[247] = 1; + out_6449160121632499508[248] = 0; + out_6449160121632499508[249] = 0; + out_6449160121632499508[250] = 0; + out_6449160121632499508[251] = 0; + out_6449160121632499508[252] = 0; + out_6449160121632499508[253] = 0; + out_6449160121632499508[254] = 0; + out_6449160121632499508[255] = 0; + out_6449160121632499508[256] = 0; + out_6449160121632499508[257] = 0; + out_6449160121632499508[258] = 0; + out_6449160121632499508[259] = 0; + out_6449160121632499508[260] = 0; + out_6449160121632499508[261] = 0; + out_6449160121632499508[262] = 0; + out_6449160121632499508[263] = 0; + out_6449160121632499508[264] = 0; + out_6449160121632499508[265] = 0; + out_6449160121632499508[266] = 1; + out_6449160121632499508[267] = 0; + out_6449160121632499508[268] = 0; + out_6449160121632499508[269] = 0; + out_6449160121632499508[270] = 0; + out_6449160121632499508[271] = 0; + out_6449160121632499508[272] = 0; + out_6449160121632499508[273] = 0; + out_6449160121632499508[274] = 0; + out_6449160121632499508[275] = 0; + out_6449160121632499508[276] = 0; + out_6449160121632499508[277] = 0; + out_6449160121632499508[278] = 0; + out_6449160121632499508[279] = 0; + out_6449160121632499508[280] = 0; + out_6449160121632499508[281] = 0; + out_6449160121632499508[282] = 0; + out_6449160121632499508[283] = 0; + out_6449160121632499508[284] = 0; + out_6449160121632499508[285] = 1; + out_6449160121632499508[286] = 0; + out_6449160121632499508[287] = 0; + out_6449160121632499508[288] = 0; + out_6449160121632499508[289] = 0; + out_6449160121632499508[290] = 0; + out_6449160121632499508[291] = 0; + out_6449160121632499508[292] = 0; + out_6449160121632499508[293] = 0; + out_6449160121632499508[294] = 0; + out_6449160121632499508[295] = 0; + out_6449160121632499508[296] = 0; + out_6449160121632499508[297] = 0; + out_6449160121632499508[298] = 0; + out_6449160121632499508[299] = 0; + out_6449160121632499508[300] = 0; + out_6449160121632499508[301] = 0; + out_6449160121632499508[302] = 0; + out_6449160121632499508[303] = 0; + out_6449160121632499508[304] = 1; + out_6449160121632499508[305] = 0; + out_6449160121632499508[306] = 0; + out_6449160121632499508[307] = 0; + out_6449160121632499508[308] = 0; + out_6449160121632499508[309] = 0; + out_6449160121632499508[310] = 0; + out_6449160121632499508[311] = 0; + out_6449160121632499508[312] = 0; + out_6449160121632499508[313] = 0; + out_6449160121632499508[314] = 0; + out_6449160121632499508[315] = 0; + out_6449160121632499508[316] = 0; + out_6449160121632499508[317] = 0; + out_6449160121632499508[318] = 0; + out_6449160121632499508[319] = 0; + out_6449160121632499508[320] = 0; + out_6449160121632499508[321] = 0; + out_6449160121632499508[322] = 0; + out_6449160121632499508[323] = 1; } -void h_4(double *state, double *unused, double *out_8735933422126784440) { - out_8735933422126784440[0] = state[6] + state[9]; - out_8735933422126784440[1] = state[7] + state[10]; - out_8735933422126784440[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_7784886013591512861) { + out_7784886013591512861[0] = state[6] + state[9]; + out_7784886013591512861[1] = state[7] + state[10]; + out_7784886013591512861[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_2621847070472080084) { - out_2621847070472080084[0] = 0; - out_2621847070472080084[1] = 0; - out_2621847070472080084[2] = 0; - out_2621847070472080084[3] = 0; - out_2621847070472080084[4] = 0; - out_2621847070472080084[5] = 0; - out_2621847070472080084[6] = 1; - out_2621847070472080084[7] = 0; - out_2621847070472080084[8] = 0; - out_2621847070472080084[9] = 1; - out_2621847070472080084[10] = 0; - out_2621847070472080084[11] = 0; - out_2621847070472080084[12] = 0; - out_2621847070472080084[13] = 0; - out_2621847070472080084[14] = 0; - out_2621847070472080084[15] = 0; - out_2621847070472080084[16] = 0; - out_2621847070472080084[17] = 0; - out_2621847070472080084[18] = 0; - out_2621847070472080084[19] = 0; - out_2621847070472080084[20] = 0; - out_2621847070472080084[21] = 0; - out_2621847070472080084[22] = 0; - out_2621847070472080084[23] = 0; - out_2621847070472080084[24] = 0; - out_2621847070472080084[25] = 1; - out_2621847070472080084[26] = 0; - out_2621847070472080084[27] = 0; - out_2621847070472080084[28] = 1; - out_2621847070472080084[29] = 0; - out_2621847070472080084[30] = 0; - out_2621847070472080084[31] = 0; - out_2621847070472080084[32] = 0; - out_2621847070472080084[33] = 0; - out_2621847070472080084[34] = 0; - out_2621847070472080084[35] = 0; - out_2621847070472080084[36] = 0; - out_2621847070472080084[37] = 0; - out_2621847070472080084[38] = 0; - out_2621847070472080084[39] = 0; - out_2621847070472080084[40] = 0; - out_2621847070472080084[41] = 0; - out_2621847070472080084[42] = 0; - out_2621847070472080084[43] = 0; - out_2621847070472080084[44] = 1; - out_2621847070472080084[45] = 0; - out_2621847070472080084[46] = 0; - out_2621847070472080084[47] = 1; - out_2621847070472080084[48] = 0; - out_2621847070472080084[49] = 0; - out_2621847070472080084[50] = 0; - out_2621847070472080084[51] = 0; - out_2621847070472080084[52] = 0; - out_2621847070472080084[53] = 0; +void H_4(double *state, double *unused, double *out_3567096639455793164) { + out_3567096639455793164[0] = 0; + out_3567096639455793164[1] = 0; + out_3567096639455793164[2] = 0; + out_3567096639455793164[3] = 0; + out_3567096639455793164[4] = 0; + out_3567096639455793164[5] = 0; + out_3567096639455793164[6] = 1; + out_3567096639455793164[7] = 0; + out_3567096639455793164[8] = 0; + out_3567096639455793164[9] = 1; + out_3567096639455793164[10] = 0; + out_3567096639455793164[11] = 0; + out_3567096639455793164[12] = 0; + out_3567096639455793164[13] = 0; + out_3567096639455793164[14] = 0; + out_3567096639455793164[15] = 0; + out_3567096639455793164[16] = 0; + out_3567096639455793164[17] = 0; + out_3567096639455793164[18] = 0; + out_3567096639455793164[19] = 0; + out_3567096639455793164[20] = 0; + out_3567096639455793164[21] = 0; + out_3567096639455793164[22] = 0; + out_3567096639455793164[23] = 0; + out_3567096639455793164[24] = 0; + out_3567096639455793164[25] = 1; + out_3567096639455793164[26] = 0; + out_3567096639455793164[27] = 0; + out_3567096639455793164[28] = 1; + out_3567096639455793164[29] = 0; + out_3567096639455793164[30] = 0; + out_3567096639455793164[31] = 0; + out_3567096639455793164[32] = 0; + out_3567096639455793164[33] = 0; + out_3567096639455793164[34] = 0; + out_3567096639455793164[35] = 0; + out_3567096639455793164[36] = 0; + out_3567096639455793164[37] = 0; + out_3567096639455793164[38] = 0; + out_3567096639455793164[39] = 0; + out_3567096639455793164[40] = 0; + out_3567096639455793164[41] = 0; + out_3567096639455793164[42] = 0; + out_3567096639455793164[43] = 0; + out_3567096639455793164[44] = 1; + out_3567096639455793164[45] = 0; + out_3567096639455793164[46] = 0; + out_3567096639455793164[47] = 1; + out_3567096639455793164[48] = 0; + out_3567096639455793164[49] = 0; + out_3567096639455793164[50] = 0; + out_3567096639455793164[51] = 0; + out_3567096639455793164[52] = 0; + out_3567096639455793164[53] = 0; } -void h_10(double *state, double *unused, double *out_6171703416781276782) { - out_6171703416781276782[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_6171703416781276782[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_6171703416781276782[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_7334008623224553615) { + out_7334008623224553615[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_7334008623224553615[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_7334008623224553615[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_8600432860711518676) { - out_8600432860711518676[0] = 0; - out_8600432860711518676[1] = 9.8100000000000005*cos(state[1]); - out_8600432860711518676[2] = 0; - out_8600432860711518676[3] = 0; - out_8600432860711518676[4] = -state[8]; - out_8600432860711518676[5] = state[7]; - out_8600432860711518676[6] = 0; - out_8600432860711518676[7] = state[5]; - out_8600432860711518676[8] = -state[4]; - out_8600432860711518676[9] = 0; - out_8600432860711518676[10] = 0; - out_8600432860711518676[11] = 0; - out_8600432860711518676[12] = 1; - out_8600432860711518676[13] = 0; - out_8600432860711518676[14] = 0; - out_8600432860711518676[15] = 1; - out_8600432860711518676[16] = 0; - out_8600432860711518676[17] = 0; - out_8600432860711518676[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_8600432860711518676[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_8600432860711518676[20] = 0; - out_8600432860711518676[21] = state[8]; - out_8600432860711518676[22] = 0; - out_8600432860711518676[23] = -state[6]; - out_8600432860711518676[24] = -state[5]; - out_8600432860711518676[25] = 0; - out_8600432860711518676[26] = state[3]; - out_8600432860711518676[27] = 0; - out_8600432860711518676[28] = 0; - out_8600432860711518676[29] = 0; - out_8600432860711518676[30] = 0; - out_8600432860711518676[31] = 1; - out_8600432860711518676[32] = 0; - out_8600432860711518676[33] = 0; - out_8600432860711518676[34] = 1; - out_8600432860711518676[35] = 0; - out_8600432860711518676[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_8600432860711518676[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_8600432860711518676[38] = 0; - out_8600432860711518676[39] = -state[7]; - out_8600432860711518676[40] = state[6]; - out_8600432860711518676[41] = 0; - out_8600432860711518676[42] = state[4]; - out_8600432860711518676[43] = -state[3]; - out_8600432860711518676[44] = 0; - out_8600432860711518676[45] = 0; - out_8600432860711518676[46] = 0; - out_8600432860711518676[47] = 0; - out_8600432860711518676[48] = 0; - out_8600432860711518676[49] = 0; - out_8600432860711518676[50] = 1; - out_8600432860711518676[51] = 0; - out_8600432860711518676[52] = 0; - out_8600432860711518676[53] = 1; +void H_10(double *state, double *unused, double *out_157882816050330764) { + out_157882816050330764[0] = 0; + out_157882816050330764[1] = 9.8100000000000005*cos(state[1]); + out_157882816050330764[2] = 0; + out_157882816050330764[3] = 0; + out_157882816050330764[4] = -state[8]; + out_157882816050330764[5] = state[7]; + out_157882816050330764[6] = 0; + out_157882816050330764[7] = state[5]; + out_157882816050330764[8] = -state[4]; + out_157882816050330764[9] = 0; + out_157882816050330764[10] = 0; + out_157882816050330764[11] = 0; + out_157882816050330764[12] = 1; + out_157882816050330764[13] = 0; + out_157882816050330764[14] = 0; + out_157882816050330764[15] = 1; + out_157882816050330764[16] = 0; + out_157882816050330764[17] = 0; + out_157882816050330764[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_157882816050330764[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_157882816050330764[20] = 0; + out_157882816050330764[21] = state[8]; + out_157882816050330764[22] = 0; + out_157882816050330764[23] = -state[6]; + out_157882816050330764[24] = -state[5]; + out_157882816050330764[25] = 0; + out_157882816050330764[26] = state[3]; + out_157882816050330764[27] = 0; + out_157882816050330764[28] = 0; + out_157882816050330764[29] = 0; + out_157882816050330764[30] = 0; + out_157882816050330764[31] = 1; + out_157882816050330764[32] = 0; + out_157882816050330764[33] = 0; + out_157882816050330764[34] = 1; + out_157882816050330764[35] = 0; + out_157882816050330764[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_157882816050330764[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_157882816050330764[38] = 0; + out_157882816050330764[39] = -state[7]; + out_157882816050330764[40] = state[6]; + out_157882816050330764[41] = 0; + out_157882816050330764[42] = state[4]; + out_157882816050330764[43] = -state[3]; + out_157882816050330764[44] = 0; + out_157882816050330764[45] = 0; + out_157882816050330764[46] = 0; + out_157882816050330764[47] = 0; + out_157882816050330764[48] = 0; + out_157882816050330764[49] = 0; + out_157882816050330764[50] = 1; + out_157882816050330764[51] = 0; + out_157882816050330764[52] = 0; + out_157882816050330764[53] = 1; } -void h_13(double *state, double *unused, double *out_7399425647141855355) { - out_7399425647141855355[0] = state[3]; - out_7399425647141855355[1] = state[4]; - out_7399425647141855355[2] = state[5]; +void h_13(double *state, double *unused, double *out_7104614274408665918) { + out_7104614274408665918[0] = state[3]; + out_7104614274408665918[1] = state[4]; + out_7104614274408665918[2] = state[5]; } -void H_13(double *state, double *unused, double *out_590426754860252717) { - out_590426754860252717[0] = 0; - out_590426754860252717[1] = 0; - out_590426754860252717[2] = 0; - out_590426754860252717[3] = 1; - out_590426754860252717[4] = 0; - out_590426754860252717[5] = 0; - out_590426754860252717[6] = 0; - out_590426754860252717[7] = 0; - out_590426754860252717[8] = 0; - out_590426754860252717[9] = 0; - out_590426754860252717[10] = 0; - out_590426754860252717[11] = 0; - out_590426754860252717[12] = 0; - out_590426754860252717[13] = 0; - out_590426754860252717[14] = 0; - out_590426754860252717[15] = 0; - out_590426754860252717[16] = 0; - out_590426754860252717[17] = 0; - out_590426754860252717[18] = 0; - out_590426754860252717[19] = 0; - out_590426754860252717[20] = 0; - out_590426754860252717[21] = 0; - out_590426754860252717[22] = 1; - out_590426754860252717[23] = 0; - out_590426754860252717[24] = 0; - out_590426754860252717[25] = 0; - out_590426754860252717[26] = 0; - out_590426754860252717[27] = 0; - out_590426754860252717[28] = 0; - out_590426754860252717[29] = 0; - out_590426754860252717[30] = 0; - out_590426754860252717[31] = 0; - out_590426754860252717[32] = 0; - out_590426754860252717[33] = 0; - out_590426754860252717[34] = 0; - out_590426754860252717[35] = 0; - out_590426754860252717[36] = 0; - out_590426754860252717[37] = 0; - out_590426754860252717[38] = 0; - out_590426754860252717[39] = 0; - out_590426754860252717[40] = 0; - out_590426754860252717[41] = 1; - out_590426754860252717[42] = 0; - out_590426754860252717[43] = 0; - out_590426754860252717[44] = 0; - out_590426754860252717[45] = 0; - out_590426754860252717[46] = 0; - out_590426754860252717[47] = 0; - out_590426754860252717[48] = 0; - out_590426754860252717[49] = 0; - out_590426754860252717[50] = 0; - out_590426754860252717[51] = 0; - out_590426754860252717[52] = 0; - out_590426754860252717[53] = 0; +void H_13(double *state, double *unused, double *out_354822814123460363) { + out_354822814123460363[0] = 0; + out_354822814123460363[1] = 0; + out_354822814123460363[2] = 0; + out_354822814123460363[3] = 1; + out_354822814123460363[4] = 0; + out_354822814123460363[5] = 0; + out_354822814123460363[6] = 0; + out_354822814123460363[7] = 0; + out_354822814123460363[8] = 0; + out_354822814123460363[9] = 0; + out_354822814123460363[10] = 0; + out_354822814123460363[11] = 0; + out_354822814123460363[12] = 0; + out_354822814123460363[13] = 0; + out_354822814123460363[14] = 0; + out_354822814123460363[15] = 0; + out_354822814123460363[16] = 0; + out_354822814123460363[17] = 0; + out_354822814123460363[18] = 0; + out_354822814123460363[19] = 0; + out_354822814123460363[20] = 0; + out_354822814123460363[21] = 0; + out_354822814123460363[22] = 1; + out_354822814123460363[23] = 0; + out_354822814123460363[24] = 0; + out_354822814123460363[25] = 0; + out_354822814123460363[26] = 0; + out_354822814123460363[27] = 0; + out_354822814123460363[28] = 0; + out_354822814123460363[29] = 0; + out_354822814123460363[30] = 0; + out_354822814123460363[31] = 0; + out_354822814123460363[32] = 0; + out_354822814123460363[33] = 0; + out_354822814123460363[34] = 0; + out_354822814123460363[35] = 0; + out_354822814123460363[36] = 0; + out_354822814123460363[37] = 0; + out_354822814123460363[38] = 0; + out_354822814123460363[39] = 0; + out_354822814123460363[40] = 0; + out_354822814123460363[41] = 1; + out_354822814123460363[42] = 0; + out_354822814123460363[43] = 0; + out_354822814123460363[44] = 0; + out_354822814123460363[45] = 0; + out_354822814123460363[46] = 0; + out_354822814123460363[47] = 0; + out_354822814123460363[48] = 0; + out_354822814123460363[49] = 0; + out_354822814123460363[50] = 0; + out_354822814123460363[51] = 0; + out_354822814123460363[52] = 0; + out_354822814123460363[53] = 0; } -void h_14(double *state, double *unused, double *out_7752950954395433666) { - out_7752950954395433666[0] = state[6]; - out_7752950954395433666[1] = state[7]; - out_7752950954395433666[2] = state[8]; +void h_14(double *state, double *unused, double *out_7017778734957237132) { + out_7017778734957237132[0] = state[6]; + out_7017778734957237132[1] = state[7]; + out_7017778734957237132[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1341393785867404445) { - out_1341393785867404445[0] = 0; - out_1341393785867404445[1] = 0; - out_1341393785867404445[2] = 0; - out_1341393785867404445[3] = 0; - out_1341393785867404445[4] = 0; - out_1341393785867404445[5] = 0; - out_1341393785867404445[6] = 1; - out_1341393785867404445[7] = 0; - out_1341393785867404445[8] = 0; - out_1341393785867404445[9] = 0; - out_1341393785867404445[10] = 0; - out_1341393785867404445[11] = 0; - out_1341393785867404445[12] = 0; - out_1341393785867404445[13] = 0; - out_1341393785867404445[14] = 0; - out_1341393785867404445[15] = 0; - out_1341393785867404445[16] = 0; - out_1341393785867404445[17] = 0; - out_1341393785867404445[18] = 0; - out_1341393785867404445[19] = 0; - out_1341393785867404445[20] = 0; - out_1341393785867404445[21] = 0; - out_1341393785867404445[22] = 0; - out_1341393785867404445[23] = 0; - out_1341393785867404445[24] = 0; - out_1341393785867404445[25] = 1; - out_1341393785867404445[26] = 0; - out_1341393785867404445[27] = 0; - out_1341393785867404445[28] = 0; - out_1341393785867404445[29] = 0; - out_1341393785867404445[30] = 0; - out_1341393785867404445[31] = 0; - out_1341393785867404445[32] = 0; - out_1341393785867404445[33] = 0; - out_1341393785867404445[34] = 0; - out_1341393785867404445[35] = 0; - out_1341393785867404445[36] = 0; - out_1341393785867404445[37] = 0; - out_1341393785867404445[38] = 0; - out_1341393785867404445[39] = 0; - out_1341393785867404445[40] = 0; - out_1341393785867404445[41] = 0; - out_1341393785867404445[42] = 0; - out_1341393785867404445[43] = 0; - out_1341393785867404445[44] = 1; - out_1341393785867404445[45] = 0; - out_1341393785867404445[46] = 0; - out_1341393785867404445[47] = 0; - out_1341393785867404445[48] = 0; - out_1341393785867404445[49] = 0; - out_1341393785867404445[50] = 0; - out_1341393785867404445[51] = 0; - out_1341393785867404445[52] = 0; - out_1341393785867404445[53] = 0; +void H_14(double *state, double *unused, double *out_6649885071751165460) { + out_6649885071751165460[0] = 0; + out_6649885071751165460[1] = 0; + out_6649885071751165460[2] = 0; + out_6649885071751165460[3] = 0; + out_6649885071751165460[4] = 0; + out_6649885071751165460[5] = 0; + out_6649885071751165460[6] = 1; + out_6649885071751165460[7] = 0; + out_6649885071751165460[8] = 0; + out_6649885071751165460[9] = 0; + out_6649885071751165460[10] = 0; + out_6649885071751165460[11] = 0; + out_6649885071751165460[12] = 0; + out_6649885071751165460[13] = 0; + out_6649885071751165460[14] = 0; + out_6649885071751165460[15] = 0; + out_6649885071751165460[16] = 0; + out_6649885071751165460[17] = 0; + out_6649885071751165460[18] = 0; + out_6649885071751165460[19] = 0; + out_6649885071751165460[20] = 0; + out_6649885071751165460[21] = 0; + out_6649885071751165460[22] = 0; + out_6649885071751165460[23] = 0; + out_6649885071751165460[24] = 0; + out_6649885071751165460[25] = 1; + out_6649885071751165460[26] = 0; + out_6649885071751165460[27] = 0; + out_6649885071751165460[28] = 0; + out_6649885071751165460[29] = 0; + out_6649885071751165460[30] = 0; + out_6649885071751165460[31] = 0; + out_6649885071751165460[32] = 0; + out_6649885071751165460[33] = 0; + out_6649885071751165460[34] = 0; + out_6649885071751165460[35] = 0; + out_6649885071751165460[36] = 0; + out_6649885071751165460[37] = 0; + out_6649885071751165460[38] = 0; + out_6649885071751165460[39] = 0; + out_6649885071751165460[40] = 0; + out_6649885071751165460[41] = 0; + out_6649885071751165460[42] = 0; + out_6649885071751165460[43] = 0; + out_6649885071751165460[44] = 1; + out_6649885071751165460[45] = 0; + out_6649885071751165460[46] = 0; + out_6649885071751165460[47] = 0; + out_6649885071751165460[48] = 0; + out_6649885071751165460[49] = 0; + out_6649885071751165460[50] = 0; + out_6649885071751165460[51] = 0; + out_6649885071751165460[52] = 0; + out_6649885071751165460[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_4115870174312830998) { - err_fun(nom_x, delta_x, out_4115870174312830998); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1334608923131309184) { + err_fun(nom_x, delta_x, out_1334608923131309184); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2299838754417090386) { - inv_err_fun(nom_x, true_x, out_2299838754417090386); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5362236298631416382) { + inv_err_fun(nom_x, true_x, out_5362236298631416382); } -void pose_H_mod_fun(double *state, double *out_652375008318869169) { - H_mod_fun(state, out_652375008318869169); +void pose_H_mod_fun(double *state, double *out_4765044121338691268) { + H_mod_fun(state, out_4765044121338691268); } -void pose_f_fun(double *state, double dt, double *out_1837308153381576760) { - f_fun(state, dt, out_1837308153381576760); +void pose_f_fun(double *state, double dt, double *out_2590892121983961236) { + f_fun(state, dt, out_2590892121983961236); } -void pose_F_fun(double *state, double dt, double *out_4411443613772384488) { - F_fun(state, dt, out_4411443613772384488); +void pose_F_fun(double *state, double dt, double *out_6449160121632499508) { + F_fun(state, dt, out_6449160121632499508); } -void pose_h_4(double *state, double *unused, double *out_8735933422126784440) { - h_4(state, unused, out_8735933422126784440); +void pose_h_4(double *state, double *unused, double *out_7784886013591512861) { + h_4(state, unused, out_7784886013591512861); } -void pose_H_4(double *state, double *unused, double *out_2621847070472080084) { - H_4(state, unused, out_2621847070472080084); +void pose_H_4(double *state, double *unused, double *out_3567096639455793164) { + H_4(state, unused, out_3567096639455793164); } -void pose_h_10(double *state, double *unused, double *out_6171703416781276782) { - h_10(state, unused, out_6171703416781276782); +void pose_h_10(double *state, double *unused, double *out_7334008623224553615) { + h_10(state, unused, out_7334008623224553615); } -void pose_H_10(double *state, double *unused, double *out_8600432860711518676) { - H_10(state, unused, out_8600432860711518676); +void pose_H_10(double *state, double *unused, double *out_157882816050330764) { + H_10(state, unused, out_157882816050330764); } -void pose_h_13(double *state, double *unused, double *out_7399425647141855355) { - h_13(state, unused, out_7399425647141855355); +void pose_h_13(double *state, double *unused, double *out_7104614274408665918) { + h_13(state, unused, out_7104614274408665918); } -void pose_H_13(double *state, double *unused, double *out_590426754860252717) { - H_13(state, unused, out_590426754860252717); +void pose_H_13(double *state, double *unused, double *out_354822814123460363) { + H_13(state, unused, out_354822814123460363); } -void pose_h_14(double *state, double *unused, double *out_7752950954395433666) { - h_14(state, unused, out_7752950954395433666); +void pose_h_14(double *state, double *unused, double *out_7017778734957237132) { + h_14(state, unused, out_7017778734957237132); } -void pose_H_14(double *state, double *unused, double *out_1341393785867404445) { - H_14(state, unused, out_1341393785867404445); +void pose_H_14(double *state, double *unused, double *out_6649885071751165460) { + H_14(state, unused, out_6649885071751165460); } 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 b36f1ffc91..d9f51f5c45 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_4115870174312830998); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2299838754417090386); -void pose_H_mod_fun(double *state, double *out_652375008318869169); -void pose_f_fun(double *state, double dt, double *out_1837308153381576760); -void pose_F_fun(double *state, double dt, double *out_4411443613772384488); -void pose_h_4(double *state, double *unused, double *out_8735933422126784440); -void pose_H_4(double *state, double *unused, double *out_2621847070472080084); -void pose_h_10(double *state, double *unused, double *out_6171703416781276782); -void pose_H_10(double *state, double *unused, double *out_8600432860711518676); -void pose_h_13(double *state, double *unused, double *out_7399425647141855355); -void pose_H_13(double *state, double *unused, double *out_590426754860252717); -void pose_h_14(double *state, double *unused, double *out_7752950954395433666); -void pose_H_14(double *state, double *unused, double *out_1341393785867404445); +void pose_err_fun(double *nom_x, double *delta_x, double *out_1334608923131309184); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5362236298631416382); +void pose_H_mod_fun(double *state, double *out_4765044121338691268); +void pose_f_fun(double *state, double dt, double *out_2590892121983961236); +void pose_F_fun(double *state, double dt, double *out_6449160121632499508); +void pose_h_4(double *state, double *unused, double *out_7784886013591512861); +void pose_H_4(double *state, double *unused, double *out_3567096639455793164); +void pose_h_10(double *state, double *unused, double *out_7334008623224553615); +void pose_H_10(double *state, double *unused, double *out_157882816050330764); +void pose_h_13(double *state, double *unused, double *out_7104614274408665918); +void pose_H_13(double *state, double *unused, double *out_354822814123460363); +void pose_h_14(double *state, double *unused, double *out_7017778734957237132); +void pose_H_14(double *state, double *unused, double *out_6649885071751165460); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 0990bc394f..36b6440be4 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/system/camerad/camerad b/system/camerad/camerad index 8729db7346..3f830f97a7 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index f0cbc803c2..a8281b4d96 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index 8ccf7c3846..661a424804 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index f80721e22d..94087c737a 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ