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b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf index aa58abba8..e6d5efb06 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf and b/panda/board/obj/panda_remote_can_ignition_only/bootstub.elf differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index 01348047a..ce9378052 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.bin and b/panda/board/obj/panda_remote_can_ignition_only/main.bin differ diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 4718c5be2..28a371ba4 100755 Binary files a/panda/board/obj/panda_remote_can_ignition_only/main.elf and b/panda/board/obj/panda_remote_can_ignition_only/main.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 8d9838a52..650a8f2f7 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-730ba6e1-DEBUG \ No newline at end of file +DEV-f6ab7849-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 78a5d4522..3e7b970ac 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_3975331509919415286) { - out_3975331509919415286[0] = delta_x[0] + nom_x[0]; - out_3975331509919415286[1] = delta_x[1] + nom_x[1]; - out_3975331509919415286[2] = delta_x[2] + nom_x[2]; - out_3975331509919415286[3] = delta_x[3] + nom_x[3]; - out_3975331509919415286[4] = delta_x[4] + nom_x[4]; - out_3975331509919415286[5] = delta_x[5] + nom_x[5]; - out_3975331509919415286[6] = delta_x[6] + nom_x[6]; - out_3975331509919415286[7] = delta_x[7] + nom_x[7]; - out_3975331509919415286[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3350045275544931453) { + out_3350045275544931453[0] = delta_x[0] + nom_x[0]; + out_3350045275544931453[1] = delta_x[1] + nom_x[1]; + out_3350045275544931453[2] = delta_x[2] + nom_x[2]; + out_3350045275544931453[3] = delta_x[3] + nom_x[3]; + out_3350045275544931453[4] = delta_x[4] + nom_x[4]; + out_3350045275544931453[5] = delta_x[5] + nom_x[5]; + out_3350045275544931453[6] = delta_x[6] + nom_x[6]; + out_3350045275544931453[7] = delta_x[7] + nom_x[7]; + out_3350045275544931453[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340) { - out_7634853030167298340[0] = -nom_x[0] + true_x[0]; - out_7634853030167298340[1] = -nom_x[1] + true_x[1]; - out_7634853030167298340[2] = -nom_x[2] + true_x[2]; - out_7634853030167298340[3] = -nom_x[3] + true_x[3]; - out_7634853030167298340[4] = -nom_x[4] + true_x[4]; - out_7634853030167298340[5] = -nom_x[5] + true_x[5]; - out_7634853030167298340[6] = -nom_x[6] + true_x[6]; - out_7634853030167298340[7] = -nom_x[7] + true_x[7]; - out_7634853030167298340[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981) { + out_537147974555085981[0] = -nom_x[0] + true_x[0]; + out_537147974555085981[1] = -nom_x[1] + true_x[1]; + out_537147974555085981[2] = -nom_x[2] + true_x[2]; + out_537147974555085981[3] = -nom_x[3] + true_x[3]; + out_537147974555085981[4] = -nom_x[4] + true_x[4]; + out_537147974555085981[5] = -nom_x[5] + true_x[5]; + out_537147974555085981[6] = -nom_x[6] + true_x[6]; + out_537147974555085981[7] = -nom_x[7] + true_x[7]; + out_537147974555085981[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_5558041618437033789) { - out_5558041618437033789[0] = 1.0; - out_5558041618437033789[1] = 0.0; - out_5558041618437033789[2] = 0.0; - out_5558041618437033789[3] = 0.0; - out_5558041618437033789[4] = 0.0; - out_5558041618437033789[5] = 0.0; - out_5558041618437033789[6] = 0.0; - out_5558041618437033789[7] = 0.0; - out_5558041618437033789[8] = 0.0; - out_5558041618437033789[9] = 0.0; - out_5558041618437033789[10] = 1.0; - out_5558041618437033789[11] = 0.0; - out_5558041618437033789[12] = 0.0; - out_5558041618437033789[13] = 0.0; - out_5558041618437033789[14] = 0.0; - out_5558041618437033789[15] = 0.0; - out_5558041618437033789[16] = 0.0; - out_5558041618437033789[17] = 0.0; - out_5558041618437033789[18] = 0.0; - out_5558041618437033789[19] = 0.0; - out_5558041618437033789[20] = 1.0; - out_5558041618437033789[21] = 0.0; - out_5558041618437033789[22] = 0.0; - out_5558041618437033789[23] = 0.0; - out_5558041618437033789[24] = 0.0; - out_5558041618437033789[25] = 0.0; - out_5558041618437033789[26] = 0.0; - out_5558041618437033789[27] = 0.0; - out_5558041618437033789[28] = 0.0; - out_5558041618437033789[29] = 0.0; - out_5558041618437033789[30] = 1.0; - out_5558041618437033789[31] = 0.0; - out_5558041618437033789[32] = 0.0; - out_5558041618437033789[33] = 0.0; - out_5558041618437033789[34] = 0.0; - out_5558041618437033789[35] = 0.0; - out_5558041618437033789[36] = 0.0; - out_5558041618437033789[37] = 0.0; - out_5558041618437033789[38] = 0.0; - out_5558041618437033789[39] = 0.0; - out_5558041618437033789[40] = 1.0; - out_5558041618437033789[41] = 0.0; - out_5558041618437033789[42] = 0.0; - out_5558041618437033789[43] = 0.0; - out_5558041618437033789[44] = 0.0; - out_5558041618437033789[45] = 0.0; - out_5558041618437033789[46] = 0.0; - out_5558041618437033789[47] = 0.0; - out_5558041618437033789[48] = 0.0; - out_5558041618437033789[49] = 0.0; - out_5558041618437033789[50] = 1.0; - out_5558041618437033789[51] = 0.0; - out_5558041618437033789[52] = 0.0; - out_5558041618437033789[53] = 0.0; - out_5558041618437033789[54] = 0.0; - out_5558041618437033789[55] = 0.0; - out_5558041618437033789[56] = 0.0; - out_5558041618437033789[57] = 0.0; - out_5558041618437033789[58] = 0.0; - out_5558041618437033789[59] = 0.0; - out_5558041618437033789[60] = 1.0; - out_5558041618437033789[61] = 0.0; - out_5558041618437033789[62] = 0.0; - out_5558041618437033789[63] = 0.0; - out_5558041618437033789[64] = 0.0; - out_5558041618437033789[65] = 0.0; - out_5558041618437033789[66] = 0.0; - out_5558041618437033789[67] = 0.0; - out_5558041618437033789[68] = 0.0; - out_5558041618437033789[69] = 0.0; - out_5558041618437033789[70] = 1.0; - out_5558041618437033789[71] = 0.0; - out_5558041618437033789[72] = 0.0; - out_5558041618437033789[73] = 0.0; - out_5558041618437033789[74] = 0.0; - out_5558041618437033789[75] = 0.0; - out_5558041618437033789[76] = 0.0; - out_5558041618437033789[77] = 0.0; - out_5558041618437033789[78] = 0.0; - out_5558041618437033789[79] = 0.0; - out_5558041618437033789[80] = 1.0; +void H_mod_fun(double *state, double *out_7775026745617319605) { + out_7775026745617319605[0] = 1.0; + out_7775026745617319605[1] = 0.0; + out_7775026745617319605[2] = 0.0; + out_7775026745617319605[3] = 0.0; + out_7775026745617319605[4] = 0.0; + out_7775026745617319605[5] = 0.0; + out_7775026745617319605[6] = 0.0; + out_7775026745617319605[7] = 0.0; + out_7775026745617319605[8] = 0.0; + out_7775026745617319605[9] = 0.0; + out_7775026745617319605[10] = 1.0; + out_7775026745617319605[11] = 0.0; + out_7775026745617319605[12] = 0.0; + out_7775026745617319605[13] = 0.0; + out_7775026745617319605[14] = 0.0; + out_7775026745617319605[15] = 0.0; + out_7775026745617319605[16] = 0.0; + out_7775026745617319605[17] = 0.0; + out_7775026745617319605[18] = 0.0; + out_7775026745617319605[19] = 0.0; + out_7775026745617319605[20] = 1.0; + out_7775026745617319605[21] = 0.0; + out_7775026745617319605[22] = 0.0; + out_7775026745617319605[23] = 0.0; + out_7775026745617319605[24] = 0.0; + out_7775026745617319605[25] = 0.0; + out_7775026745617319605[26] = 0.0; + out_7775026745617319605[27] = 0.0; + out_7775026745617319605[28] = 0.0; + out_7775026745617319605[29] = 0.0; + out_7775026745617319605[30] = 1.0; + out_7775026745617319605[31] = 0.0; + out_7775026745617319605[32] = 0.0; + out_7775026745617319605[33] = 0.0; + out_7775026745617319605[34] = 0.0; + out_7775026745617319605[35] = 0.0; + out_7775026745617319605[36] = 0.0; + out_7775026745617319605[37] = 0.0; + out_7775026745617319605[38] = 0.0; + out_7775026745617319605[39] = 0.0; + out_7775026745617319605[40] = 1.0; + out_7775026745617319605[41] = 0.0; + out_7775026745617319605[42] = 0.0; + out_7775026745617319605[43] = 0.0; + out_7775026745617319605[44] = 0.0; + out_7775026745617319605[45] = 0.0; + out_7775026745617319605[46] = 0.0; + out_7775026745617319605[47] = 0.0; + out_7775026745617319605[48] = 0.0; + out_7775026745617319605[49] = 0.0; + out_7775026745617319605[50] = 1.0; + out_7775026745617319605[51] = 0.0; + out_7775026745617319605[52] = 0.0; + out_7775026745617319605[53] = 0.0; + out_7775026745617319605[54] = 0.0; + out_7775026745617319605[55] = 0.0; + out_7775026745617319605[56] = 0.0; + out_7775026745617319605[57] = 0.0; + out_7775026745617319605[58] = 0.0; + out_7775026745617319605[59] = 0.0; + out_7775026745617319605[60] = 1.0; + out_7775026745617319605[61] = 0.0; + out_7775026745617319605[62] = 0.0; + out_7775026745617319605[63] = 0.0; + out_7775026745617319605[64] = 0.0; + out_7775026745617319605[65] = 0.0; + out_7775026745617319605[66] = 0.0; + out_7775026745617319605[67] = 0.0; + out_7775026745617319605[68] = 0.0; + out_7775026745617319605[69] = 0.0; + out_7775026745617319605[70] = 1.0; + out_7775026745617319605[71] = 0.0; + out_7775026745617319605[72] = 0.0; + out_7775026745617319605[73] = 0.0; + out_7775026745617319605[74] = 0.0; + out_7775026745617319605[75] = 0.0; + out_7775026745617319605[76] = 0.0; + out_7775026745617319605[77] = 0.0; + out_7775026745617319605[78] = 0.0; + out_7775026745617319605[79] = 0.0; + out_7775026745617319605[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8628820520711137836) { - out_8628820520711137836[0] = state[0]; - out_8628820520711137836[1] = state[1]; - out_8628820520711137836[2] = state[2]; - out_8628820520711137836[3] = state[3]; - out_8628820520711137836[4] = state[4]; - out_8628820520711137836[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_8628820520711137836[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_8628820520711137836[7] = state[7]; - out_8628820520711137836[8] = state[8]; +void f_fun(double *state, double dt, double *out_4198835588916233412) { + out_4198835588916233412[0] = state[0]; + out_4198835588916233412[1] = state[1]; + out_4198835588916233412[2] = state[2]; + out_4198835588916233412[3] = state[3]; + out_4198835588916233412[4] = state[4]; + out_4198835588916233412[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_4198835588916233412[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_4198835588916233412[7] = state[7]; + out_4198835588916233412[8] = state[8]; } -void F_fun(double *state, double dt, double *out_937688393817481927) { - out_937688393817481927[0] = 1; - out_937688393817481927[1] = 0; - out_937688393817481927[2] = 0; - out_937688393817481927[3] = 0; - out_937688393817481927[4] = 0; - out_937688393817481927[5] = 0; - out_937688393817481927[6] = 0; - out_937688393817481927[7] = 0; - out_937688393817481927[8] = 0; - out_937688393817481927[9] = 0; - out_937688393817481927[10] = 1; - out_937688393817481927[11] = 0; - out_937688393817481927[12] = 0; - out_937688393817481927[13] = 0; - out_937688393817481927[14] = 0; - out_937688393817481927[15] = 0; - out_937688393817481927[16] = 0; - out_937688393817481927[17] = 0; - out_937688393817481927[18] = 0; - out_937688393817481927[19] = 0; - out_937688393817481927[20] = 1; - out_937688393817481927[21] = 0; - out_937688393817481927[22] = 0; - out_937688393817481927[23] = 0; - out_937688393817481927[24] = 0; - out_937688393817481927[25] = 0; - out_937688393817481927[26] = 0; - out_937688393817481927[27] = 0; - out_937688393817481927[28] = 0; - out_937688393817481927[29] = 0; - out_937688393817481927[30] = 1; - out_937688393817481927[31] = 0; - out_937688393817481927[32] = 0; - out_937688393817481927[33] = 0; - out_937688393817481927[34] = 0; - out_937688393817481927[35] = 0; - out_937688393817481927[36] = 0; - out_937688393817481927[37] = 0; - out_937688393817481927[38] = 0; - out_937688393817481927[39] = 0; - out_937688393817481927[40] = 1; - out_937688393817481927[41] = 0; - out_937688393817481927[42] = 0; - out_937688393817481927[43] = 0; - out_937688393817481927[44] = 0; - out_937688393817481927[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_937688393817481927[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_937688393817481927[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_937688393817481927[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_937688393817481927[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_937688393817481927[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_937688393817481927[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_937688393817481927[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_937688393817481927[53] = -9.8100000000000005*dt; - out_937688393817481927[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_937688393817481927[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_937688393817481927[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_937688393817481927[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_937688393817481927[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_937688393817481927[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_937688393817481927[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_937688393817481927[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_937688393817481927[62] = 0; - out_937688393817481927[63] = 0; - out_937688393817481927[64] = 0; - out_937688393817481927[65] = 0; - out_937688393817481927[66] = 0; - out_937688393817481927[67] = 0; - out_937688393817481927[68] = 0; - out_937688393817481927[69] = 0; - out_937688393817481927[70] = 1; - out_937688393817481927[71] = 0; - out_937688393817481927[72] = 0; - out_937688393817481927[73] = 0; - out_937688393817481927[74] = 0; - out_937688393817481927[75] = 0; - out_937688393817481927[76] = 0; - out_937688393817481927[77] = 0; - out_937688393817481927[78] = 0; - out_937688393817481927[79] = 0; - out_937688393817481927[80] = 1; +void F_fun(double *state, double dt, double *out_4444349682340675673) { + out_4444349682340675673[0] = 1; + out_4444349682340675673[1] = 0; + out_4444349682340675673[2] = 0; + out_4444349682340675673[3] = 0; + out_4444349682340675673[4] = 0; + out_4444349682340675673[5] = 0; + out_4444349682340675673[6] = 0; + out_4444349682340675673[7] = 0; + out_4444349682340675673[8] = 0; + out_4444349682340675673[9] = 0; + out_4444349682340675673[10] = 1; + out_4444349682340675673[11] = 0; + out_4444349682340675673[12] = 0; + out_4444349682340675673[13] = 0; + out_4444349682340675673[14] = 0; + out_4444349682340675673[15] = 0; + out_4444349682340675673[16] = 0; + out_4444349682340675673[17] = 0; + out_4444349682340675673[18] = 0; + out_4444349682340675673[19] = 0; + out_4444349682340675673[20] = 1; + out_4444349682340675673[21] = 0; + out_4444349682340675673[22] = 0; + out_4444349682340675673[23] = 0; + out_4444349682340675673[24] = 0; + out_4444349682340675673[25] = 0; + out_4444349682340675673[26] = 0; + out_4444349682340675673[27] = 0; + out_4444349682340675673[28] = 0; + out_4444349682340675673[29] = 0; + out_4444349682340675673[30] = 1; + out_4444349682340675673[31] = 0; + out_4444349682340675673[32] = 0; + out_4444349682340675673[33] = 0; + out_4444349682340675673[34] = 0; + out_4444349682340675673[35] = 0; + out_4444349682340675673[36] = 0; + out_4444349682340675673[37] = 0; + out_4444349682340675673[38] = 0; + out_4444349682340675673[39] = 0; + out_4444349682340675673[40] = 1; + out_4444349682340675673[41] = 0; + out_4444349682340675673[42] = 0; + out_4444349682340675673[43] = 0; + out_4444349682340675673[44] = 0; + out_4444349682340675673[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_4444349682340675673[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_4444349682340675673[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4444349682340675673[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_4444349682340675673[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_4444349682340675673[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_4444349682340675673[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_4444349682340675673[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_4444349682340675673[53] = -9.8100000000000005*dt; + out_4444349682340675673[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_4444349682340675673[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_4444349682340675673[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4444349682340675673[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4444349682340675673[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_4444349682340675673[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_4444349682340675673[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_4444349682340675673[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_4444349682340675673[62] = 0; + out_4444349682340675673[63] = 0; + out_4444349682340675673[64] = 0; + out_4444349682340675673[65] = 0; + out_4444349682340675673[66] = 0; + out_4444349682340675673[67] = 0; + out_4444349682340675673[68] = 0; + out_4444349682340675673[69] = 0; + out_4444349682340675673[70] = 1; + out_4444349682340675673[71] = 0; + out_4444349682340675673[72] = 0; + out_4444349682340675673[73] = 0; + out_4444349682340675673[74] = 0; + out_4444349682340675673[75] = 0; + out_4444349682340675673[76] = 0; + out_4444349682340675673[77] = 0; + out_4444349682340675673[78] = 0; + out_4444349682340675673[79] = 0; + out_4444349682340675673[80] = 1; } -void h_25(double *state, double *unused, double *out_4714258583115160121) { - out_4714258583115160121[0] = state[6]; +void h_25(double *state, double *unused, double *out_6936843442256047922) { + out_6936843442256047922[0] = state[6]; } -void H_25(double *state, double *unused, double *out_3228209521213378417) { - out_3228209521213378417[0] = 0; - out_3228209521213378417[1] = 0; - out_3228209521213378417[2] = 0; - out_3228209521213378417[3] = 0; - out_3228209521213378417[4] = 0; - out_3228209521213378417[5] = 0; - out_3228209521213378417[6] = 1; - out_3228209521213378417[7] = 0; - out_3228209521213378417[8] = 0; +void H_25(double *state, double *unused, double *out_1418161480294917632) { + out_1418161480294917632[0] = 0; + out_1418161480294917632[1] = 0; + out_1418161480294917632[2] = 0; + out_1418161480294917632[3] = 0; + out_1418161480294917632[4] = 0; + out_1418161480294917632[5] = 0; + out_1418161480294917632[6] = 1; + out_1418161480294917632[7] = 0; + out_1418161480294917632[8] = 0; } -void h_24(double *state, double *unused, double *out_8700237868881615564) { - out_8700237868881615564[0] = state[4]; - out_8700237868881615564[1] = state[5]; +void h_24(double *state, double *unused, double *out_5320826123735066091) { + out_5320826123735066091[0] = state[4]; + out_5320826123735066091[1] = state[5]; } -void H_24(double *state, double *unused, double *out_8097024386241085269) { - out_8097024386241085269[0] = 0; - out_8097024386241085269[1] = 0; - out_8097024386241085269[2] = 0; - out_8097024386241085269[3] = 0; - out_8097024386241085269[4] = 1; - out_8097024386241085269[5] = 0; - out_8097024386241085269[6] = 0; - out_8097024386241085269[7] = 0; - out_8097024386241085269[8] = 0; - out_8097024386241085269[9] = 0; - out_8097024386241085269[10] = 0; - out_8097024386241085269[11] = 0; - out_8097024386241085269[12] = 0; - out_8097024386241085269[13] = 0; - out_8097024386241085269[14] = 1; - out_8097024386241085269[15] = 0; - out_8097024386241085269[16] = 0; - out_8097024386241085269[17] = 0; +void H_24(double *state, double *unused, double *out_6164670807261426666) { + out_6164670807261426666[0] = 0; + out_6164670807261426666[1] = 0; + out_6164670807261426666[2] = 0; + out_6164670807261426666[3] = 0; + out_6164670807261426666[4] = 1; + out_6164670807261426666[5] = 0; + out_6164670807261426666[6] = 0; + out_6164670807261426666[7] = 0; + out_6164670807261426666[8] = 0; + out_6164670807261426666[9] = 0; + out_6164670807261426666[10] = 0; + out_6164670807261426666[11] = 0; + out_6164670807261426666[12] = 0; + out_6164670807261426666[13] = 0; + out_6164670807261426666[14] = 1; + out_6164670807261426666[15] = 0; + out_6164670807261426666[16] = 0; + out_6164670807261426666[17] = 0; } -void h_30(double *state, double *unused, double *out_4557071914764030976) { - out_4557071914764030976[0] = state[4]; +void h_30(double *state, double *unused, double *out_956096052628475437) { + out_956096052628475437[0] = state[4]; } -void H_30(double *state, double *unused, double *out_7755905851340986615) { - out_7755905851340986615[0] = 0; - out_7755905851340986615[1] = 0; - out_7755905851340986615[2] = 0; - out_7755905851340986615[3] = 0; - out_7755905851340986615[4] = 1; - out_7755905851340986615[5] = 0; - out_7755905851340986615[6] = 0; - out_7755905851340986615[7] = 0; - out_7755905851340986615[8] = 0; +void H_30(double *state, double *unused, double *out_1100171478212330995) { + out_1100171478212330995[0] = 0; + out_1100171478212330995[1] = 0; + out_1100171478212330995[2] = 0; + out_1100171478212330995[3] = 0; + out_1100171478212330995[4] = 1; + out_1100171478212330995[5] = 0; + out_1100171478212330995[6] = 0; + out_1100171478212330995[7] = 0; + out_1100171478212330995[8] = 0; } -void h_26(double *state, double *unused, double *out_7593857966208363661) { - out_7593857966208363661[0] = state[7]; +void h_26(double *state, double *unused, double *out_1856456050641377946) { + out_1856456050641377946[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6969712840087434641) { - out_6969712840087434641[0] = 0; - out_6969712840087434641[1] = 0; - out_6969712840087434641[2] = 0; - out_6969712840087434641[3] = 0; - out_6969712840087434641[4] = 0; - out_6969712840087434641[5] = 0; - out_6969712840087434641[6] = 0; - out_6969712840087434641[7] = 1; - out_6969712840087434641[8] = 0; +void H_26(double *state, double *unused, double *out_1886364489465882969) { + out_1886364489465882969[0] = 0; + out_1886364489465882969[1] = 0; + out_1886364489465882969[2] = 0; + out_1886364489465882969[3] = 0; + out_1886364489465882969[4] = 0; + out_1886364489465882969[5] = 0; + out_1886364489465882969[6] = 0; + out_1886364489465882969[7] = 1; + out_1886364489465882969[8] = 0; } -void h_27(double *state, double *unused, double *out_8506578274759066548) { - out_8506578274759066548[0] = state[3]; +void h_27(double *state, double *unused, double *out_6508227363792658049) { + out_6508227363792658049[0] = state[3]; } -void H_27(double *state, double *unused, double *out_5532311780157043398) { - out_5532311780157043398[0] = 0; - out_5532311780157043398[1] = 0; - out_5532311780157043398[2] = 0; - out_5532311780157043398[3] = 1; - out_5532311780157043398[4] = 0; - out_5532311780157043398[5] = 0; - out_5532311780157043398[6] = 0; - out_5532311780157043398[7] = 0; - out_5532311780157043398[8] = 0; +void H_27(double *state, double *unused, double *out_3323765549396274212) { + out_3323765549396274212[0] = 0; + out_3323765549396274212[1] = 0; + out_3323765549396274212[2] = 0; + out_3323765549396274212[3] = 1; + out_3323765549396274212[4] = 0; + out_3323765549396274212[5] = 0; + out_3323765549396274212[6] = 0; + out_3323765549396274212[7] = 0; + out_3323765549396274212[8] = 0; } -void h_29(double *state, double *unused, double *out_4869128746505044198) { - out_4869128746505044198[0] = state[1]; +void h_29(double *state, double *unused, double *out_3441856028653153575) { + out_3441856028653153575[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7245674507026594431) { - out_7245674507026594431[0] = 0; - out_7245674507026594431[1] = 1; - out_7245674507026594431[2] = 0; - out_7245674507026594431[3] = 0; - out_7245674507026594431[4] = 0; - out_7245674507026594431[5] = 0; - out_7245674507026594431[6] = 0; - out_7245674507026594431[7] = 0; - out_7245674507026594431[8] = 0; +void H_29(double *state, double *unused, double *out_1610402822526723179) { + out_1610402822526723179[0] = 0; + out_1610402822526723179[1] = 1; + out_1610402822526723179[2] = 0; + out_1610402822526723179[3] = 0; + out_1610402822526723179[4] = 0; + out_1610402822526723179[5] = 0; + out_1610402822526723179[6] = 0; + out_1610402822526723179[7] = 0; + out_1610402822526723179[8] = 0; } -void h_28(double *state, double *unused, double *out_3664394704215203127) { - out_3664394704215203127[0] = state[0]; +void h_28(double *state, double *unused, double *out_8901730658472560882) { + out_8901730658472560882[0] = state[0]; } -void H_28(double *state, double *unused, double *out_5282044235461268180) { - out_5282044235461268180[0] = 1; - out_5282044235461268180[1] = 0; - out_5282044235461268180[2] = 0; - out_5282044235461268180[3] = 0; - out_5282044235461268180[4] = 0; - out_5282044235461268180[5] = 0; - out_5282044235461268180[6] = 0; - out_5282044235461268180[7] = 0; - out_5282044235461268180[8] = 0; +void H_28(double *state, double *unused, double *out_3471996194542807395) { + out_3471996194542807395[0] = 1; + out_3471996194542807395[1] = 0; + out_3471996194542807395[2] = 0; + out_3471996194542807395[3] = 0; + out_3471996194542807395[4] = 0; + out_3471996194542807395[5] = 0; + out_3471996194542807395[6] = 0; + out_3471996194542807395[7] = 0; + out_3471996194542807395[8] = 0; } -void h_31(double *state, double *unused, double *out_6047692778171023868) { - out_6047692778171023868[0] = state[8]; +void h_31(double *state, double *unused, double *out_6661649379971542033) { + out_6661649379971542033[0] = state[8]; } -void H_31(double *state, double *unused, double *out_7595920942320786117) { - out_7595920942320786117[0] = 0; - out_7595920942320786117[1] = 0; - out_7595920942320786117[2] = 0; - out_7595920942320786117[3] = 0; - out_7595920942320786117[4] = 0; - out_7595920942320786117[5] = 0; - out_7595920942320786117[6] = 0; - out_7595920942320786117[7] = 0; - out_7595920942320786117[8] = 1; +void H_31(double *state, double *unused, double *out_1260156387232531493) { + out_1260156387232531493[0] = 0; + out_1260156387232531493[1] = 0; + out_1260156387232531493[2] = 0; + out_1260156387232531493[3] = 0; + out_1260156387232531493[4] = 0; + out_1260156387232531493[5] = 0; + out_1260156387232531493[6] = 0; + out_1260156387232531493[7] = 0; + out_1260156387232531493[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_3975331509919415286) { - err_fun(nom_x, delta_x, out_3975331509919415286); +void car_err_fun(double *nom_x, double *delta_x, double *out_3350045275544931453) { + err_fun(nom_x, delta_x, out_3350045275544931453); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340) { - inv_err_fun(nom_x, true_x, out_7634853030167298340); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981) { + inv_err_fun(nom_x, true_x, out_537147974555085981); } -void car_H_mod_fun(double *state, double *out_5558041618437033789) { - H_mod_fun(state, out_5558041618437033789); +void car_H_mod_fun(double *state, double *out_7775026745617319605) { + H_mod_fun(state, out_7775026745617319605); } -void car_f_fun(double *state, double dt, double *out_8628820520711137836) { - f_fun(state, dt, out_8628820520711137836); +void car_f_fun(double *state, double dt, double *out_4198835588916233412) { + f_fun(state, dt, out_4198835588916233412); } -void car_F_fun(double *state, double dt, double *out_937688393817481927) { - F_fun(state, dt, out_937688393817481927); +void car_F_fun(double *state, double dt, double *out_4444349682340675673) { + F_fun(state, dt, out_4444349682340675673); } -void car_h_25(double *state, double *unused, double *out_4714258583115160121) { - h_25(state, unused, out_4714258583115160121); +void car_h_25(double *state, double *unused, double *out_6936843442256047922) { + h_25(state, unused, out_6936843442256047922); } -void car_H_25(double *state, double *unused, double *out_3228209521213378417) { - H_25(state, unused, out_3228209521213378417); +void car_H_25(double *state, double *unused, double *out_1418161480294917632) { + H_25(state, unused, out_1418161480294917632); } -void car_h_24(double *state, double *unused, double *out_8700237868881615564) { - h_24(state, unused, out_8700237868881615564); +void car_h_24(double *state, double *unused, double *out_5320826123735066091) { + h_24(state, unused, out_5320826123735066091); } -void car_H_24(double *state, double *unused, double *out_8097024386241085269) { - H_24(state, unused, out_8097024386241085269); +void car_H_24(double *state, double *unused, double *out_6164670807261426666) { + H_24(state, unused, out_6164670807261426666); } -void car_h_30(double *state, double *unused, double *out_4557071914764030976) { - h_30(state, unused, out_4557071914764030976); +void car_h_30(double *state, double *unused, double *out_956096052628475437) { + h_30(state, unused, out_956096052628475437); } -void car_H_30(double *state, double *unused, double *out_7755905851340986615) { - H_30(state, unused, out_7755905851340986615); +void car_H_30(double *state, double *unused, double *out_1100171478212330995) { + H_30(state, unused, out_1100171478212330995); } -void car_h_26(double *state, double *unused, double *out_7593857966208363661) { - h_26(state, unused, out_7593857966208363661); +void car_h_26(double *state, double *unused, double *out_1856456050641377946) { + h_26(state, unused, out_1856456050641377946); } -void car_H_26(double *state, double *unused, double *out_6969712840087434641) { - H_26(state, unused, out_6969712840087434641); +void car_H_26(double *state, double *unused, double *out_1886364489465882969) { + H_26(state, unused, out_1886364489465882969); } -void car_h_27(double *state, double *unused, double *out_8506578274759066548) { - h_27(state, unused, out_8506578274759066548); +void car_h_27(double *state, double *unused, double *out_6508227363792658049) { + h_27(state, unused, out_6508227363792658049); } -void car_H_27(double *state, double *unused, double *out_5532311780157043398) { - H_27(state, unused, out_5532311780157043398); +void car_H_27(double *state, double *unused, double *out_3323765549396274212) { + H_27(state, unused, out_3323765549396274212); } -void car_h_29(double *state, double *unused, double *out_4869128746505044198) { - h_29(state, unused, out_4869128746505044198); +void car_h_29(double *state, double *unused, double *out_3441856028653153575) { + h_29(state, unused, out_3441856028653153575); } -void car_H_29(double *state, double *unused, double *out_7245674507026594431) { - H_29(state, unused, out_7245674507026594431); +void car_H_29(double *state, double *unused, double *out_1610402822526723179) { + H_29(state, unused, out_1610402822526723179); } -void car_h_28(double *state, double *unused, double *out_3664394704215203127) { - h_28(state, unused, out_3664394704215203127); +void car_h_28(double *state, double *unused, double *out_8901730658472560882) { + h_28(state, unused, out_8901730658472560882); } -void car_H_28(double *state, double *unused, double *out_5282044235461268180) { - H_28(state, unused, out_5282044235461268180); +void car_H_28(double *state, double *unused, double *out_3471996194542807395) { + H_28(state, unused, out_3471996194542807395); } -void car_h_31(double *state, double *unused, double *out_6047692778171023868) { - h_31(state, unused, out_6047692778171023868); +void car_h_31(double *state, double *unused, double *out_6661649379971542033) { + h_31(state, unused, out_6661649379971542033); } -void car_H_31(double *state, double *unused, double *out_7595920942320786117) { - H_31(state, unused, out_7595920942320786117); +void car_H_31(double *state, double *unused, double *out_1260156387232531493) { + H_31(state, unused, out_1260156387232531493); } 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 84bfc6206..86d9a4134 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_3975331509919415286); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7634853030167298340); -void car_H_mod_fun(double *state, double *out_5558041618437033789); -void car_f_fun(double *state, double dt, double *out_8628820520711137836); -void car_F_fun(double *state, double dt, double *out_937688393817481927); -void car_h_25(double *state, double *unused, double *out_4714258583115160121); -void car_H_25(double *state, double *unused, double *out_3228209521213378417); -void car_h_24(double *state, double *unused, double *out_8700237868881615564); -void car_H_24(double *state, double *unused, double *out_8097024386241085269); -void car_h_30(double *state, double *unused, double *out_4557071914764030976); -void car_H_30(double *state, double *unused, double *out_7755905851340986615); -void car_h_26(double *state, double *unused, double *out_7593857966208363661); -void car_H_26(double *state, double *unused, double *out_6969712840087434641); -void car_h_27(double *state, double *unused, double *out_8506578274759066548); -void car_H_27(double *state, double *unused, double *out_5532311780157043398); -void car_h_29(double *state, double *unused, double *out_4869128746505044198); -void car_H_29(double *state, double *unused, double *out_7245674507026594431); -void car_h_28(double *state, double *unused, double *out_3664394704215203127); -void car_H_28(double *state, double *unused, double *out_5282044235461268180); -void car_h_31(double *state, double *unused, double *out_6047692778171023868); -void car_H_31(double *state, double *unused, double *out_7595920942320786117); +void car_err_fun(double *nom_x, double *delta_x, double *out_3350045275544931453); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_537147974555085981); +void car_H_mod_fun(double *state, double *out_7775026745617319605); +void car_f_fun(double *state, double dt, double *out_4198835588916233412); +void car_F_fun(double *state, double dt, double *out_4444349682340675673); +void car_h_25(double *state, double *unused, double *out_6936843442256047922); +void car_H_25(double *state, double *unused, double *out_1418161480294917632); +void car_h_24(double *state, double *unused, double *out_5320826123735066091); +void car_H_24(double *state, double *unused, double *out_6164670807261426666); +void car_h_30(double *state, double *unused, double *out_956096052628475437); +void car_H_30(double *state, double *unused, double *out_1100171478212330995); +void car_h_26(double *state, double *unused, double *out_1856456050641377946); +void car_H_26(double *state, double *unused, double *out_1886364489465882969); +void car_h_27(double *state, double *unused, double *out_6508227363792658049); +void car_H_27(double *state, double *unused, double *out_3323765549396274212); +void car_h_29(double *state, double *unused, double *out_3441856028653153575); +void car_H_29(double *state, double *unused, double *out_1610402822526723179); +void car_h_28(double *state, double *unused, double *out_8901730658472560882); +void car_H_28(double *state, double *unused, double *out_3471996194542807395); +void car_h_31(double *state, double *unused, double *out_6661649379971542033); +void car_H_31(double *state, double *unused, double *out_1260156387232531493); 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 89391409f..0186c0d7a 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_3576801538095390920) { - out_3576801538095390920[0] = delta_x[0] + nom_x[0]; - out_3576801538095390920[1] = delta_x[1] + nom_x[1]; - out_3576801538095390920[2] = delta_x[2] + nom_x[2]; - out_3576801538095390920[3] = delta_x[3] + nom_x[3]; - out_3576801538095390920[4] = delta_x[4] + nom_x[4]; - out_3576801538095390920[5] = delta_x[5] + nom_x[5]; - out_3576801538095390920[6] = delta_x[6] + nom_x[6]; - out_3576801538095390920[7] = delta_x[7] + nom_x[7]; - out_3576801538095390920[8] = delta_x[8] + nom_x[8]; - out_3576801538095390920[9] = delta_x[9] + nom_x[9]; - out_3576801538095390920[10] = delta_x[10] + nom_x[10]; - out_3576801538095390920[11] = delta_x[11] + nom_x[11]; - out_3576801538095390920[12] = delta_x[12] + nom_x[12]; - out_3576801538095390920[13] = delta_x[13] + nom_x[13]; - out_3576801538095390920[14] = delta_x[14] + nom_x[14]; - out_3576801538095390920[15] = delta_x[15] + nom_x[15]; - out_3576801538095390920[16] = delta_x[16] + nom_x[16]; - out_3576801538095390920[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_5836812006117722374) { + out_5836812006117722374[0] = delta_x[0] + nom_x[0]; + out_5836812006117722374[1] = delta_x[1] + nom_x[1]; + out_5836812006117722374[2] = delta_x[2] + nom_x[2]; + out_5836812006117722374[3] = delta_x[3] + nom_x[3]; + out_5836812006117722374[4] = delta_x[4] + nom_x[4]; + out_5836812006117722374[5] = delta_x[5] + nom_x[5]; + out_5836812006117722374[6] = delta_x[6] + nom_x[6]; + out_5836812006117722374[7] = delta_x[7] + nom_x[7]; + out_5836812006117722374[8] = delta_x[8] + nom_x[8]; + out_5836812006117722374[9] = delta_x[9] + nom_x[9]; + out_5836812006117722374[10] = delta_x[10] + nom_x[10]; + out_5836812006117722374[11] = delta_x[11] + nom_x[11]; + out_5836812006117722374[12] = delta_x[12] + nom_x[12]; + out_5836812006117722374[13] = delta_x[13] + nom_x[13]; + out_5836812006117722374[14] = delta_x[14] + nom_x[14]; + out_5836812006117722374[15] = delta_x[15] + nom_x[15]; + out_5836812006117722374[16] = delta_x[16] + nom_x[16]; + out_5836812006117722374[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_3629669491519681211) { - out_3629669491519681211[0] = -nom_x[0] + true_x[0]; - out_3629669491519681211[1] = -nom_x[1] + true_x[1]; - out_3629669491519681211[2] = -nom_x[2] + true_x[2]; - out_3629669491519681211[3] = -nom_x[3] + true_x[3]; - out_3629669491519681211[4] = -nom_x[4] + true_x[4]; - out_3629669491519681211[5] = -nom_x[5] + true_x[5]; - out_3629669491519681211[6] = -nom_x[6] + true_x[6]; - out_3629669491519681211[7] = -nom_x[7] + true_x[7]; - out_3629669491519681211[8] = -nom_x[8] + true_x[8]; - out_3629669491519681211[9] = -nom_x[9] + true_x[9]; - out_3629669491519681211[10] = -nom_x[10] + true_x[10]; - out_3629669491519681211[11] = -nom_x[11] + true_x[11]; - out_3629669491519681211[12] = -nom_x[12] + true_x[12]; - out_3629669491519681211[13] = -nom_x[13] + true_x[13]; - out_3629669491519681211[14] = -nom_x[14] + true_x[14]; - out_3629669491519681211[15] = -nom_x[15] + true_x[15]; - out_3629669491519681211[16] = -nom_x[16] + true_x[16]; - out_3629669491519681211[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_368701023819567149) { + out_368701023819567149[0] = -nom_x[0] + true_x[0]; + out_368701023819567149[1] = -nom_x[1] + true_x[1]; + out_368701023819567149[2] = -nom_x[2] + true_x[2]; + out_368701023819567149[3] = -nom_x[3] + true_x[3]; + out_368701023819567149[4] = -nom_x[4] + true_x[4]; + out_368701023819567149[5] = -nom_x[5] + true_x[5]; + out_368701023819567149[6] = -nom_x[6] + true_x[6]; + out_368701023819567149[7] = -nom_x[7] + true_x[7]; + out_368701023819567149[8] = -nom_x[8] + true_x[8]; + out_368701023819567149[9] = -nom_x[9] + true_x[9]; + out_368701023819567149[10] = -nom_x[10] + true_x[10]; + out_368701023819567149[11] = -nom_x[11] + true_x[11]; + out_368701023819567149[12] = -nom_x[12] + true_x[12]; + out_368701023819567149[13] = -nom_x[13] + true_x[13]; + out_368701023819567149[14] = -nom_x[14] + true_x[14]; + out_368701023819567149[15] = -nom_x[15] + true_x[15]; + out_368701023819567149[16] = -nom_x[16] + true_x[16]; + out_368701023819567149[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_128220774054724087) { - out_128220774054724087[0] = 1.0; - out_128220774054724087[1] = 0.0; - out_128220774054724087[2] = 0.0; - out_128220774054724087[3] = 0.0; - out_128220774054724087[4] = 0.0; - out_128220774054724087[5] = 0.0; - out_128220774054724087[6] = 0.0; - out_128220774054724087[7] = 0.0; - out_128220774054724087[8] = 0.0; - out_128220774054724087[9] = 0.0; - out_128220774054724087[10] = 0.0; - out_128220774054724087[11] = 0.0; - out_128220774054724087[12] = 0.0; - out_128220774054724087[13] = 0.0; - out_128220774054724087[14] = 0.0; - out_128220774054724087[15] = 0.0; - out_128220774054724087[16] = 0.0; - out_128220774054724087[17] = 0.0; - out_128220774054724087[18] = 0.0; - out_128220774054724087[19] = 1.0; - out_128220774054724087[20] = 0.0; - out_128220774054724087[21] = 0.0; - out_128220774054724087[22] = 0.0; - out_128220774054724087[23] = 0.0; - out_128220774054724087[24] = 0.0; - out_128220774054724087[25] = 0.0; - out_128220774054724087[26] = 0.0; - out_128220774054724087[27] = 0.0; - out_128220774054724087[28] = 0.0; - out_128220774054724087[29] = 0.0; - out_128220774054724087[30] = 0.0; - out_128220774054724087[31] = 0.0; - out_128220774054724087[32] = 0.0; - out_128220774054724087[33] = 0.0; - out_128220774054724087[34] = 0.0; - out_128220774054724087[35] = 0.0; - out_128220774054724087[36] = 0.0; - out_128220774054724087[37] = 0.0; - out_128220774054724087[38] = 1.0; - out_128220774054724087[39] = 0.0; - out_128220774054724087[40] = 0.0; - out_128220774054724087[41] = 0.0; - out_128220774054724087[42] = 0.0; - out_128220774054724087[43] = 0.0; - out_128220774054724087[44] = 0.0; - out_128220774054724087[45] = 0.0; - out_128220774054724087[46] = 0.0; - out_128220774054724087[47] = 0.0; - out_128220774054724087[48] = 0.0; - out_128220774054724087[49] = 0.0; - out_128220774054724087[50] = 0.0; - out_128220774054724087[51] = 0.0; - out_128220774054724087[52] = 0.0; - out_128220774054724087[53] = 0.0; - out_128220774054724087[54] = 0.0; - out_128220774054724087[55] = 0.0; - out_128220774054724087[56] = 0.0; - out_128220774054724087[57] = 1.0; - out_128220774054724087[58] = 0.0; - out_128220774054724087[59] = 0.0; - out_128220774054724087[60] = 0.0; - out_128220774054724087[61] = 0.0; - out_128220774054724087[62] = 0.0; - out_128220774054724087[63] = 0.0; - out_128220774054724087[64] = 0.0; - out_128220774054724087[65] = 0.0; - out_128220774054724087[66] = 0.0; - out_128220774054724087[67] = 0.0; - out_128220774054724087[68] = 0.0; - out_128220774054724087[69] = 0.0; - out_128220774054724087[70] = 0.0; - out_128220774054724087[71] = 0.0; - out_128220774054724087[72] = 0.0; - out_128220774054724087[73] = 0.0; - out_128220774054724087[74] = 0.0; - out_128220774054724087[75] = 0.0; - out_128220774054724087[76] = 1.0; - out_128220774054724087[77] = 0.0; - out_128220774054724087[78] = 0.0; - out_128220774054724087[79] = 0.0; - out_128220774054724087[80] = 0.0; - out_128220774054724087[81] = 0.0; - out_128220774054724087[82] = 0.0; - out_128220774054724087[83] = 0.0; - out_128220774054724087[84] = 0.0; - out_128220774054724087[85] = 0.0; - out_128220774054724087[86] = 0.0; - out_128220774054724087[87] = 0.0; - out_128220774054724087[88] = 0.0; - out_128220774054724087[89] = 0.0; - out_128220774054724087[90] = 0.0; - out_128220774054724087[91] = 0.0; - out_128220774054724087[92] = 0.0; - out_128220774054724087[93] = 0.0; - out_128220774054724087[94] = 0.0; - out_128220774054724087[95] = 1.0; - out_128220774054724087[96] = 0.0; - out_128220774054724087[97] = 0.0; - out_128220774054724087[98] = 0.0; - out_128220774054724087[99] = 0.0; - out_128220774054724087[100] = 0.0; - out_128220774054724087[101] = 0.0; - out_128220774054724087[102] = 0.0; - out_128220774054724087[103] = 0.0; - out_128220774054724087[104] = 0.0; - out_128220774054724087[105] = 0.0; - out_128220774054724087[106] = 0.0; - out_128220774054724087[107] = 0.0; - out_128220774054724087[108] = 0.0; - out_128220774054724087[109] = 0.0; - out_128220774054724087[110] = 0.0; - out_128220774054724087[111] = 0.0; - out_128220774054724087[112] = 0.0; - out_128220774054724087[113] = 0.0; - out_128220774054724087[114] = 1.0; - out_128220774054724087[115] = 0.0; - out_128220774054724087[116] = 0.0; - out_128220774054724087[117] = 0.0; - out_128220774054724087[118] = 0.0; - out_128220774054724087[119] = 0.0; - out_128220774054724087[120] = 0.0; - out_128220774054724087[121] = 0.0; - out_128220774054724087[122] = 0.0; - out_128220774054724087[123] = 0.0; - out_128220774054724087[124] = 0.0; - out_128220774054724087[125] = 0.0; - out_128220774054724087[126] = 0.0; - out_128220774054724087[127] = 0.0; - out_128220774054724087[128] = 0.0; - out_128220774054724087[129] = 0.0; - out_128220774054724087[130] = 0.0; - out_128220774054724087[131] = 0.0; - out_128220774054724087[132] = 0.0; - out_128220774054724087[133] = 1.0; - out_128220774054724087[134] = 0.0; - out_128220774054724087[135] = 0.0; - out_128220774054724087[136] = 0.0; - out_128220774054724087[137] = 0.0; - out_128220774054724087[138] = 0.0; - out_128220774054724087[139] = 0.0; - out_128220774054724087[140] = 0.0; - out_128220774054724087[141] = 0.0; - out_128220774054724087[142] = 0.0; - out_128220774054724087[143] = 0.0; - out_128220774054724087[144] = 0.0; - out_128220774054724087[145] = 0.0; - out_128220774054724087[146] = 0.0; - out_128220774054724087[147] = 0.0; - out_128220774054724087[148] = 0.0; - out_128220774054724087[149] = 0.0; - out_128220774054724087[150] = 0.0; - out_128220774054724087[151] = 0.0; - out_128220774054724087[152] = 1.0; - out_128220774054724087[153] = 0.0; - out_128220774054724087[154] = 0.0; - out_128220774054724087[155] = 0.0; - out_128220774054724087[156] = 0.0; - out_128220774054724087[157] = 0.0; - out_128220774054724087[158] = 0.0; - out_128220774054724087[159] = 0.0; - out_128220774054724087[160] = 0.0; - out_128220774054724087[161] = 0.0; - out_128220774054724087[162] = 0.0; - out_128220774054724087[163] = 0.0; - out_128220774054724087[164] = 0.0; - out_128220774054724087[165] = 0.0; - out_128220774054724087[166] = 0.0; - out_128220774054724087[167] = 0.0; - out_128220774054724087[168] = 0.0; - out_128220774054724087[169] = 0.0; - out_128220774054724087[170] = 0.0; - out_128220774054724087[171] = 1.0; - out_128220774054724087[172] = 0.0; - out_128220774054724087[173] = 0.0; - out_128220774054724087[174] = 0.0; - out_128220774054724087[175] = 0.0; - out_128220774054724087[176] = 0.0; - out_128220774054724087[177] = 0.0; - out_128220774054724087[178] = 0.0; - out_128220774054724087[179] = 0.0; - out_128220774054724087[180] = 0.0; - out_128220774054724087[181] = 0.0; - out_128220774054724087[182] = 0.0; - out_128220774054724087[183] = 0.0; - out_128220774054724087[184] = 0.0; - out_128220774054724087[185] = 0.0; - out_128220774054724087[186] = 0.0; - out_128220774054724087[187] = 0.0; - out_128220774054724087[188] = 0.0; - out_128220774054724087[189] = 0.0; - out_128220774054724087[190] = 1.0; - out_128220774054724087[191] = 0.0; - out_128220774054724087[192] = 0.0; - out_128220774054724087[193] = 0.0; - out_128220774054724087[194] = 0.0; - out_128220774054724087[195] = 0.0; - out_128220774054724087[196] = 0.0; - out_128220774054724087[197] = 0.0; - out_128220774054724087[198] = 0.0; - out_128220774054724087[199] = 0.0; - out_128220774054724087[200] = 0.0; - out_128220774054724087[201] = 0.0; - out_128220774054724087[202] = 0.0; - out_128220774054724087[203] = 0.0; - out_128220774054724087[204] = 0.0; - out_128220774054724087[205] = 0.0; - out_128220774054724087[206] = 0.0; - out_128220774054724087[207] = 0.0; - out_128220774054724087[208] = 0.0; - out_128220774054724087[209] = 1.0; - out_128220774054724087[210] = 0.0; - out_128220774054724087[211] = 0.0; - out_128220774054724087[212] = 0.0; - out_128220774054724087[213] = 0.0; - out_128220774054724087[214] = 0.0; - out_128220774054724087[215] = 0.0; - out_128220774054724087[216] = 0.0; - out_128220774054724087[217] = 0.0; - out_128220774054724087[218] = 0.0; - out_128220774054724087[219] = 0.0; - out_128220774054724087[220] = 0.0; - out_128220774054724087[221] = 0.0; - out_128220774054724087[222] = 0.0; - out_128220774054724087[223] = 0.0; - out_128220774054724087[224] = 0.0; - out_128220774054724087[225] = 0.0; - out_128220774054724087[226] = 0.0; - out_128220774054724087[227] = 0.0; - out_128220774054724087[228] = 1.0; - out_128220774054724087[229] = 0.0; - out_128220774054724087[230] = 0.0; - out_128220774054724087[231] = 0.0; - out_128220774054724087[232] = 0.0; - out_128220774054724087[233] = 0.0; - out_128220774054724087[234] = 0.0; - out_128220774054724087[235] = 0.0; - out_128220774054724087[236] = 0.0; - out_128220774054724087[237] = 0.0; - out_128220774054724087[238] = 0.0; - out_128220774054724087[239] = 0.0; - out_128220774054724087[240] = 0.0; - out_128220774054724087[241] = 0.0; - out_128220774054724087[242] = 0.0; - out_128220774054724087[243] = 0.0; - out_128220774054724087[244] = 0.0; - out_128220774054724087[245] = 0.0; - out_128220774054724087[246] = 0.0; - out_128220774054724087[247] = 1.0; - out_128220774054724087[248] = 0.0; - out_128220774054724087[249] = 0.0; - out_128220774054724087[250] = 0.0; - out_128220774054724087[251] = 0.0; - out_128220774054724087[252] = 0.0; - out_128220774054724087[253] = 0.0; - out_128220774054724087[254] = 0.0; - out_128220774054724087[255] = 0.0; - out_128220774054724087[256] = 0.0; - out_128220774054724087[257] = 0.0; - out_128220774054724087[258] = 0.0; - out_128220774054724087[259] = 0.0; - out_128220774054724087[260] = 0.0; - out_128220774054724087[261] = 0.0; - out_128220774054724087[262] = 0.0; - out_128220774054724087[263] = 0.0; - out_128220774054724087[264] = 0.0; - out_128220774054724087[265] = 0.0; - out_128220774054724087[266] = 1.0; - out_128220774054724087[267] = 0.0; - out_128220774054724087[268] = 0.0; - out_128220774054724087[269] = 0.0; - out_128220774054724087[270] = 0.0; - out_128220774054724087[271] = 0.0; - out_128220774054724087[272] = 0.0; - out_128220774054724087[273] = 0.0; - out_128220774054724087[274] = 0.0; - out_128220774054724087[275] = 0.0; - out_128220774054724087[276] = 0.0; - out_128220774054724087[277] = 0.0; - out_128220774054724087[278] = 0.0; - out_128220774054724087[279] = 0.0; - out_128220774054724087[280] = 0.0; - out_128220774054724087[281] = 0.0; - out_128220774054724087[282] = 0.0; - out_128220774054724087[283] = 0.0; - out_128220774054724087[284] = 0.0; - out_128220774054724087[285] = 1.0; - out_128220774054724087[286] = 0.0; - out_128220774054724087[287] = 0.0; - out_128220774054724087[288] = 0.0; - out_128220774054724087[289] = 0.0; - out_128220774054724087[290] = 0.0; - out_128220774054724087[291] = 0.0; - out_128220774054724087[292] = 0.0; - out_128220774054724087[293] = 0.0; - out_128220774054724087[294] = 0.0; - out_128220774054724087[295] = 0.0; - out_128220774054724087[296] = 0.0; - out_128220774054724087[297] = 0.0; - out_128220774054724087[298] = 0.0; - out_128220774054724087[299] = 0.0; - out_128220774054724087[300] = 0.0; - out_128220774054724087[301] = 0.0; - out_128220774054724087[302] = 0.0; - out_128220774054724087[303] = 0.0; - out_128220774054724087[304] = 1.0; - out_128220774054724087[305] = 0.0; - out_128220774054724087[306] = 0.0; - out_128220774054724087[307] = 0.0; - out_128220774054724087[308] = 0.0; - out_128220774054724087[309] = 0.0; - out_128220774054724087[310] = 0.0; - out_128220774054724087[311] = 0.0; - out_128220774054724087[312] = 0.0; - out_128220774054724087[313] = 0.0; - out_128220774054724087[314] = 0.0; - out_128220774054724087[315] = 0.0; - out_128220774054724087[316] = 0.0; - out_128220774054724087[317] = 0.0; - out_128220774054724087[318] = 0.0; - out_128220774054724087[319] = 0.0; - out_128220774054724087[320] = 0.0; - out_128220774054724087[321] = 0.0; - out_128220774054724087[322] = 0.0; - out_128220774054724087[323] = 1.0; +void H_mod_fun(double *state, double *out_5720830998239473631) { + out_5720830998239473631[0] = 1.0; + out_5720830998239473631[1] = 0.0; + out_5720830998239473631[2] = 0.0; + out_5720830998239473631[3] = 0.0; + out_5720830998239473631[4] = 0.0; + out_5720830998239473631[5] = 0.0; + out_5720830998239473631[6] = 0.0; + out_5720830998239473631[7] = 0.0; + out_5720830998239473631[8] = 0.0; + out_5720830998239473631[9] = 0.0; + out_5720830998239473631[10] = 0.0; + out_5720830998239473631[11] = 0.0; + out_5720830998239473631[12] = 0.0; + out_5720830998239473631[13] = 0.0; + out_5720830998239473631[14] = 0.0; + out_5720830998239473631[15] = 0.0; + out_5720830998239473631[16] = 0.0; + out_5720830998239473631[17] = 0.0; + out_5720830998239473631[18] = 0.0; + out_5720830998239473631[19] = 1.0; + out_5720830998239473631[20] = 0.0; + out_5720830998239473631[21] = 0.0; + out_5720830998239473631[22] = 0.0; + out_5720830998239473631[23] = 0.0; + out_5720830998239473631[24] = 0.0; + out_5720830998239473631[25] = 0.0; + out_5720830998239473631[26] = 0.0; + out_5720830998239473631[27] = 0.0; + out_5720830998239473631[28] = 0.0; + out_5720830998239473631[29] = 0.0; + out_5720830998239473631[30] = 0.0; + out_5720830998239473631[31] = 0.0; + out_5720830998239473631[32] = 0.0; + out_5720830998239473631[33] = 0.0; + out_5720830998239473631[34] = 0.0; + out_5720830998239473631[35] = 0.0; + out_5720830998239473631[36] = 0.0; + out_5720830998239473631[37] = 0.0; + out_5720830998239473631[38] = 1.0; + out_5720830998239473631[39] = 0.0; + out_5720830998239473631[40] = 0.0; + out_5720830998239473631[41] = 0.0; + out_5720830998239473631[42] = 0.0; + out_5720830998239473631[43] = 0.0; + out_5720830998239473631[44] = 0.0; + out_5720830998239473631[45] = 0.0; + out_5720830998239473631[46] = 0.0; + out_5720830998239473631[47] = 0.0; + out_5720830998239473631[48] = 0.0; + out_5720830998239473631[49] = 0.0; + out_5720830998239473631[50] = 0.0; + out_5720830998239473631[51] = 0.0; + out_5720830998239473631[52] = 0.0; + out_5720830998239473631[53] = 0.0; + out_5720830998239473631[54] = 0.0; + out_5720830998239473631[55] = 0.0; + out_5720830998239473631[56] = 0.0; + out_5720830998239473631[57] = 1.0; + out_5720830998239473631[58] = 0.0; + out_5720830998239473631[59] = 0.0; + out_5720830998239473631[60] = 0.0; + out_5720830998239473631[61] = 0.0; + out_5720830998239473631[62] = 0.0; + out_5720830998239473631[63] = 0.0; + out_5720830998239473631[64] = 0.0; + out_5720830998239473631[65] = 0.0; + out_5720830998239473631[66] = 0.0; + out_5720830998239473631[67] = 0.0; + out_5720830998239473631[68] = 0.0; + out_5720830998239473631[69] = 0.0; + out_5720830998239473631[70] = 0.0; + out_5720830998239473631[71] = 0.0; + out_5720830998239473631[72] = 0.0; + out_5720830998239473631[73] = 0.0; + out_5720830998239473631[74] = 0.0; + out_5720830998239473631[75] = 0.0; + out_5720830998239473631[76] = 1.0; + out_5720830998239473631[77] = 0.0; + out_5720830998239473631[78] = 0.0; + out_5720830998239473631[79] = 0.0; + out_5720830998239473631[80] = 0.0; + out_5720830998239473631[81] = 0.0; + out_5720830998239473631[82] = 0.0; + out_5720830998239473631[83] = 0.0; + out_5720830998239473631[84] = 0.0; + out_5720830998239473631[85] = 0.0; + out_5720830998239473631[86] = 0.0; + out_5720830998239473631[87] = 0.0; + out_5720830998239473631[88] = 0.0; + out_5720830998239473631[89] = 0.0; + out_5720830998239473631[90] = 0.0; + out_5720830998239473631[91] = 0.0; + out_5720830998239473631[92] = 0.0; + out_5720830998239473631[93] = 0.0; + out_5720830998239473631[94] = 0.0; + out_5720830998239473631[95] = 1.0; + out_5720830998239473631[96] = 0.0; + out_5720830998239473631[97] = 0.0; + out_5720830998239473631[98] = 0.0; + out_5720830998239473631[99] = 0.0; + out_5720830998239473631[100] = 0.0; + out_5720830998239473631[101] = 0.0; + out_5720830998239473631[102] = 0.0; + out_5720830998239473631[103] = 0.0; + out_5720830998239473631[104] = 0.0; + out_5720830998239473631[105] = 0.0; + out_5720830998239473631[106] = 0.0; + out_5720830998239473631[107] = 0.0; + out_5720830998239473631[108] = 0.0; + out_5720830998239473631[109] = 0.0; + out_5720830998239473631[110] = 0.0; + out_5720830998239473631[111] = 0.0; + out_5720830998239473631[112] = 0.0; + out_5720830998239473631[113] = 0.0; + out_5720830998239473631[114] = 1.0; + out_5720830998239473631[115] = 0.0; + out_5720830998239473631[116] = 0.0; + out_5720830998239473631[117] = 0.0; + out_5720830998239473631[118] = 0.0; + out_5720830998239473631[119] = 0.0; + out_5720830998239473631[120] = 0.0; + out_5720830998239473631[121] = 0.0; + out_5720830998239473631[122] = 0.0; + out_5720830998239473631[123] = 0.0; + out_5720830998239473631[124] = 0.0; + out_5720830998239473631[125] = 0.0; + out_5720830998239473631[126] = 0.0; + out_5720830998239473631[127] = 0.0; + out_5720830998239473631[128] = 0.0; + out_5720830998239473631[129] = 0.0; + out_5720830998239473631[130] = 0.0; + out_5720830998239473631[131] = 0.0; + out_5720830998239473631[132] = 0.0; + out_5720830998239473631[133] = 1.0; + out_5720830998239473631[134] = 0.0; + out_5720830998239473631[135] = 0.0; + out_5720830998239473631[136] = 0.0; + out_5720830998239473631[137] = 0.0; + out_5720830998239473631[138] = 0.0; + out_5720830998239473631[139] = 0.0; + out_5720830998239473631[140] = 0.0; + out_5720830998239473631[141] = 0.0; + out_5720830998239473631[142] = 0.0; + out_5720830998239473631[143] = 0.0; + out_5720830998239473631[144] = 0.0; + out_5720830998239473631[145] = 0.0; + out_5720830998239473631[146] = 0.0; + out_5720830998239473631[147] = 0.0; + out_5720830998239473631[148] = 0.0; + out_5720830998239473631[149] = 0.0; + out_5720830998239473631[150] = 0.0; + out_5720830998239473631[151] = 0.0; + out_5720830998239473631[152] = 1.0; + out_5720830998239473631[153] = 0.0; + out_5720830998239473631[154] = 0.0; + out_5720830998239473631[155] = 0.0; + out_5720830998239473631[156] = 0.0; + out_5720830998239473631[157] = 0.0; + out_5720830998239473631[158] = 0.0; + out_5720830998239473631[159] = 0.0; + out_5720830998239473631[160] = 0.0; + out_5720830998239473631[161] = 0.0; + out_5720830998239473631[162] = 0.0; + out_5720830998239473631[163] = 0.0; + out_5720830998239473631[164] = 0.0; + out_5720830998239473631[165] = 0.0; + out_5720830998239473631[166] = 0.0; + out_5720830998239473631[167] = 0.0; + out_5720830998239473631[168] = 0.0; + out_5720830998239473631[169] = 0.0; + out_5720830998239473631[170] = 0.0; + out_5720830998239473631[171] = 1.0; + out_5720830998239473631[172] = 0.0; + out_5720830998239473631[173] = 0.0; + out_5720830998239473631[174] = 0.0; + out_5720830998239473631[175] = 0.0; + out_5720830998239473631[176] = 0.0; + out_5720830998239473631[177] = 0.0; + out_5720830998239473631[178] = 0.0; + out_5720830998239473631[179] = 0.0; + out_5720830998239473631[180] = 0.0; + out_5720830998239473631[181] = 0.0; + out_5720830998239473631[182] = 0.0; + out_5720830998239473631[183] = 0.0; + out_5720830998239473631[184] = 0.0; + out_5720830998239473631[185] = 0.0; + out_5720830998239473631[186] = 0.0; + out_5720830998239473631[187] = 0.0; + out_5720830998239473631[188] = 0.0; + out_5720830998239473631[189] = 0.0; + out_5720830998239473631[190] = 1.0; + out_5720830998239473631[191] = 0.0; + out_5720830998239473631[192] = 0.0; + out_5720830998239473631[193] = 0.0; + out_5720830998239473631[194] = 0.0; + out_5720830998239473631[195] = 0.0; + out_5720830998239473631[196] = 0.0; + out_5720830998239473631[197] = 0.0; + out_5720830998239473631[198] = 0.0; + out_5720830998239473631[199] = 0.0; + out_5720830998239473631[200] = 0.0; + out_5720830998239473631[201] = 0.0; + out_5720830998239473631[202] = 0.0; + out_5720830998239473631[203] = 0.0; + out_5720830998239473631[204] = 0.0; + out_5720830998239473631[205] = 0.0; + out_5720830998239473631[206] = 0.0; + out_5720830998239473631[207] = 0.0; + out_5720830998239473631[208] = 0.0; + out_5720830998239473631[209] = 1.0; + out_5720830998239473631[210] = 0.0; + out_5720830998239473631[211] = 0.0; + out_5720830998239473631[212] = 0.0; + out_5720830998239473631[213] = 0.0; + out_5720830998239473631[214] = 0.0; + out_5720830998239473631[215] = 0.0; + out_5720830998239473631[216] = 0.0; + out_5720830998239473631[217] = 0.0; + out_5720830998239473631[218] = 0.0; + out_5720830998239473631[219] = 0.0; + out_5720830998239473631[220] = 0.0; + out_5720830998239473631[221] = 0.0; + out_5720830998239473631[222] = 0.0; + out_5720830998239473631[223] = 0.0; + out_5720830998239473631[224] = 0.0; + out_5720830998239473631[225] = 0.0; + out_5720830998239473631[226] = 0.0; + out_5720830998239473631[227] = 0.0; + out_5720830998239473631[228] = 1.0; + out_5720830998239473631[229] = 0.0; + out_5720830998239473631[230] = 0.0; + out_5720830998239473631[231] = 0.0; + out_5720830998239473631[232] = 0.0; + out_5720830998239473631[233] = 0.0; + out_5720830998239473631[234] = 0.0; + out_5720830998239473631[235] = 0.0; + out_5720830998239473631[236] = 0.0; + out_5720830998239473631[237] = 0.0; + out_5720830998239473631[238] = 0.0; + out_5720830998239473631[239] = 0.0; + out_5720830998239473631[240] = 0.0; + out_5720830998239473631[241] = 0.0; + out_5720830998239473631[242] = 0.0; + out_5720830998239473631[243] = 0.0; + out_5720830998239473631[244] = 0.0; + out_5720830998239473631[245] = 0.0; + out_5720830998239473631[246] = 0.0; + out_5720830998239473631[247] = 1.0; + out_5720830998239473631[248] = 0.0; + out_5720830998239473631[249] = 0.0; + out_5720830998239473631[250] = 0.0; + out_5720830998239473631[251] = 0.0; + out_5720830998239473631[252] = 0.0; + out_5720830998239473631[253] = 0.0; + out_5720830998239473631[254] = 0.0; + out_5720830998239473631[255] = 0.0; + out_5720830998239473631[256] = 0.0; + out_5720830998239473631[257] = 0.0; + out_5720830998239473631[258] = 0.0; + out_5720830998239473631[259] = 0.0; + out_5720830998239473631[260] = 0.0; + out_5720830998239473631[261] = 0.0; + out_5720830998239473631[262] = 0.0; + out_5720830998239473631[263] = 0.0; + out_5720830998239473631[264] = 0.0; + out_5720830998239473631[265] = 0.0; + out_5720830998239473631[266] = 1.0; + out_5720830998239473631[267] = 0.0; + out_5720830998239473631[268] = 0.0; + out_5720830998239473631[269] = 0.0; + out_5720830998239473631[270] = 0.0; + out_5720830998239473631[271] = 0.0; + out_5720830998239473631[272] = 0.0; + out_5720830998239473631[273] = 0.0; + out_5720830998239473631[274] = 0.0; + out_5720830998239473631[275] = 0.0; + out_5720830998239473631[276] = 0.0; + out_5720830998239473631[277] = 0.0; + out_5720830998239473631[278] = 0.0; + out_5720830998239473631[279] = 0.0; + out_5720830998239473631[280] = 0.0; + out_5720830998239473631[281] = 0.0; + out_5720830998239473631[282] = 0.0; + out_5720830998239473631[283] = 0.0; + out_5720830998239473631[284] = 0.0; + out_5720830998239473631[285] = 1.0; + out_5720830998239473631[286] = 0.0; + out_5720830998239473631[287] = 0.0; + out_5720830998239473631[288] = 0.0; + out_5720830998239473631[289] = 0.0; + out_5720830998239473631[290] = 0.0; + out_5720830998239473631[291] = 0.0; + out_5720830998239473631[292] = 0.0; + out_5720830998239473631[293] = 0.0; + out_5720830998239473631[294] = 0.0; + out_5720830998239473631[295] = 0.0; + out_5720830998239473631[296] = 0.0; + out_5720830998239473631[297] = 0.0; + out_5720830998239473631[298] = 0.0; + out_5720830998239473631[299] = 0.0; + out_5720830998239473631[300] = 0.0; + out_5720830998239473631[301] = 0.0; + out_5720830998239473631[302] = 0.0; + out_5720830998239473631[303] = 0.0; + out_5720830998239473631[304] = 1.0; + out_5720830998239473631[305] = 0.0; + out_5720830998239473631[306] = 0.0; + out_5720830998239473631[307] = 0.0; + out_5720830998239473631[308] = 0.0; + out_5720830998239473631[309] = 0.0; + out_5720830998239473631[310] = 0.0; + out_5720830998239473631[311] = 0.0; + out_5720830998239473631[312] = 0.0; + out_5720830998239473631[313] = 0.0; + out_5720830998239473631[314] = 0.0; + out_5720830998239473631[315] = 0.0; + out_5720830998239473631[316] = 0.0; + out_5720830998239473631[317] = 0.0; + out_5720830998239473631[318] = 0.0; + out_5720830998239473631[319] = 0.0; + out_5720830998239473631[320] = 0.0; + out_5720830998239473631[321] = 0.0; + out_5720830998239473631[322] = 0.0; + out_5720830998239473631[323] = 1.0; } -void f_fun(double *state, double dt, double *out_8022018128441912094) { - out_8022018128441912094[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_8022018128441912094[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_8022018128441912094[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_8022018128441912094[3] = dt*state[12] + state[3]; - out_8022018128441912094[4] = dt*state[13] + state[4]; - out_8022018128441912094[5] = dt*state[14] + state[5]; - out_8022018128441912094[6] = state[6]; - out_8022018128441912094[7] = state[7]; - out_8022018128441912094[8] = state[8]; - out_8022018128441912094[9] = state[9]; - out_8022018128441912094[10] = state[10]; - out_8022018128441912094[11] = state[11]; - out_8022018128441912094[12] = state[12]; - out_8022018128441912094[13] = state[13]; - out_8022018128441912094[14] = state[14]; - out_8022018128441912094[15] = state[15]; - out_8022018128441912094[16] = state[16]; - out_8022018128441912094[17] = state[17]; +void f_fun(double *state, double dt, double *out_3302434187336556995) { + out_3302434187336556995[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_3302434187336556995[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_3302434187336556995[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_3302434187336556995[3] = dt*state[12] + state[3]; + out_3302434187336556995[4] = dt*state[13] + state[4]; + out_3302434187336556995[5] = dt*state[14] + state[5]; + out_3302434187336556995[6] = state[6]; + out_3302434187336556995[7] = state[7]; + out_3302434187336556995[8] = state[8]; + out_3302434187336556995[9] = state[9]; + out_3302434187336556995[10] = state[10]; + out_3302434187336556995[11] = state[11]; + out_3302434187336556995[12] = state[12]; + out_3302434187336556995[13] = state[13]; + out_3302434187336556995[14] = state[14]; + out_3302434187336556995[15] = state[15]; + out_3302434187336556995[16] = state[16]; + out_3302434187336556995[17] = state[17]; } -void F_fun(double *state, double dt, double *out_4440336535941280195) { - out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[2] = 0; - out_4440336535941280195[3] = 0; - out_4440336535941280195[4] = 0; - out_4440336535941280195[5] = 0; - out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[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_4440336535941280195[9] = 0; - out_4440336535941280195[10] = 0; - out_4440336535941280195[11] = 0; - out_4440336535941280195[12] = 0; - out_4440336535941280195[13] = 0; - out_4440336535941280195[14] = 0; - out_4440336535941280195[15] = 0; - out_4440336535941280195[16] = 0; - out_4440336535941280195[17] = 0; - out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[20] = 0; - out_4440336535941280195[21] = 0; - out_4440336535941280195[22] = 0; - out_4440336535941280195[23] = 0; - out_4440336535941280195[24] = 0; - out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[27] = 0; - out_4440336535941280195[28] = 0; - out_4440336535941280195[29] = 0; - out_4440336535941280195[30] = 0; - out_4440336535941280195[31] = 0; - out_4440336535941280195[32] = 0; - out_4440336535941280195[33] = 0; - out_4440336535941280195[34] = 0; - out_4440336535941280195[35] = 0; - out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[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_4440336535941280195[39] = 0; - out_4440336535941280195[40] = 0; - out_4440336535941280195[41] = 0; - out_4440336535941280195[42] = 0; - out_4440336535941280195[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_4440336535941280195[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_4440336535941280195[45] = 0; - out_4440336535941280195[46] = 0; - out_4440336535941280195[47] = 0; - out_4440336535941280195[48] = 0; - out_4440336535941280195[49] = 0; - out_4440336535941280195[50] = 0; - out_4440336535941280195[51] = 0; - out_4440336535941280195[52] = 0; - out_4440336535941280195[53] = 0; - out_4440336535941280195[54] = 0; - out_4440336535941280195[55] = 0; - out_4440336535941280195[56] = 0; - out_4440336535941280195[57] = 1; - out_4440336535941280195[58] = 0; - out_4440336535941280195[59] = 0; - out_4440336535941280195[60] = 0; - out_4440336535941280195[61] = 0; - out_4440336535941280195[62] = 0; - out_4440336535941280195[63] = 0; - out_4440336535941280195[64] = 0; - out_4440336535941280195[65] = 0; - out_4440336535941280195[66] = dt; - out_4440336535941280195[67] = 0; - out_4440336535941280195[68] = 0; - out_4440336535941280195[69] = 0; - out_4440336535941280195[70] = 0; - out_4440336535941280195[71] = 0; - out_4440336535941280195[72] = 0; - out_4440336535941280195[73] = 0; - out_4440336535941280195[74] = 0; - out_4440336535941280195[75] = 0; - out_4440336535941280195[76] = 1; - out_4440336535941280195[77] = 0; - out_4440336535941280195[78] = 0; - out_4440336535941280195[79] = 0; - out_4440336535941280195[80] = 0; - out_4440336535941280195[81] = 0; - out_4440336535941280195[82] = 0; - out_4440336535941280195[83] = 0; - out_4440336535941280195[84] = 0; - out_4440336535941280195[85] = dt; - out_4440336535941280195[86] = 0; - out_4440336535941280195[87] = 0; - out_4440336535941280195[88] = 0; - out_4440336535941280195[89] = 0; - out_4440336535941280195[90] = 0; - out_4440336535941280195[91] = 0; - out_4440336535941280195[92] = 0; - out_4440336535941280195[93] = 0; - out_4440336535941280195[94] = 0; - out_4440336535941280195[95] = 1; - out_4440336535941280195[96] = 0; - out_4440336535941280195[97] = 0; - out_4440336535941280195[98] = 0; - out_4440336535941280195[99] = 0; - out_4440336535941280195[100] = 0; - out_4440336535941280195[101] = 0; - out_4440336535941280195[102] = 0; - out_4440336535941280195[103] = 0; - out_4440336535941280195[104] = dt; - out_4440336535941280195[105] = 0; - out_4440336535941280195[106] = 0; - out_4440336535941280195[107] = 0; - out_4440336535941280195[108] = 0; - out_4440336535941280195[109] = 0; - out_4440336535941280195[110] = 0; - out_4440336535941280195[111] = 0; - out_4440336535941280195[112] = 0; - out_4440336535941280195[113] = 0; - out_4440336535941280195[114] = 1; - out_4440336535941280195[115] = 0; - out_4440336535941280195[116] = 0; - out_4440336535941280195[117] = 0; - out_4440336535941280195[118] = 0; - out_4440336535941280195[119] = 0; - out_4440336535941280195[120] = 0; - out_4440336535941280195[121] = 0; - out_4440336535941280195[122] = 0; - out_4440336535941280195[123] = 0; - out_4440336535941280195[124] = 0; - out_4440336535941280195[125] = 0; - out_4440336535941280195[126] = 0; - out_4440336535941280195[127] = 0; - out_4440336535941280195[128] = 0; - out_4440336535941280195[129] = 0; - out_4440336535941280195[130] = 0; - out_4440336535941280195[131] = 0; - out_4440336535941280195[132] = 0; - out_4440336535941280195[133] = 1; - out_4440336535941280195[134] = 0; - out_4440336535941280195[135] = 0; - out_4440336535941280195[136] = 0; - out_4440336535941280195[137] = 0; - out_4440336535941280195[138] = 0; - out_4440336535941280195[139] = 0; - out_4440336535941280195[140] = 0; - out_4440336535941280195[141] = 0; - out_4440336535941280195[142] = 0; - out_4440336535941280195[143] = 0; - out_4440336535941280195[144] = 0; - out_4440336535941280195[145] = 0; - out_4440336535941280195[146] = 0; - out_4440336535941280195[147] = 0; - out_4440336535941280195[148] = 0; - out_4440336535941280195[149] = 0; - out_4440336535941280195[150] = 0; - out_4440336535941280195[151] = 0; - out_4440336535941280195[152] = 1; - out_4440336535941280195[153] = 0; - out_4440336535941280195[154] = 0; - out_4440336535941280195[155] = 0; - out_4440336535941280195[156] = 0; - out_4440336535941280195[157] = 0; - out_4440336535941280195[158] = 0; - out_4440336535941280195[159] = 0; - out_4440336535941280195[160] = 0; - out_4440336535941280195[161] = 0; - out_4440336535941280195[162] = 0; - out_4440336535941280195[163] = 0; - out_4440336535941280195[164] = 0; - out_4440336535941280195[165] = 0; - out_4440336535941280195[166] = 0; - out_4440336535941280195[167] = 0; - out_4440336535941280195[168] = 0; - out_4440336535941280195[169] = 0; - out_4440336535941280195[170] = 0; - out_4440336535941280195[171] = 1; - out_4440336535941280195[172] = 0; - out_4440336535941280195[173] = 0; - out_4440336535941280195[174] = 0; - out_4440336535941280195[175] = 0; - out_4440336535941280195[176] = 0; - out_4440336535941280195[177] = 0; - out_4440336535941280195[178] = 0; - out_4440336535941280195[179] = 0; - out_4440336535941280195[180] = 0; - out_4440336535941280195[181] = 0; - out_4440336535941280195[182] = 0; - out_4440336535941280195[183] = 0; - out_4440336535941280195[184] = 0; - out_4440336535941280195[185] = 0; - out_4440336535941280195[186] = 0; - out_4440336535941280195[187] = 0; - out_4440336535941280195[188] = 0; - out_4440336535941280195[189] = 0; - out_4440336535941280195[190] = 1; - out_4440336535941280195[191] = 0; - out_4440336535941280195[192] = 0; - out_4440336535941280195[193] = 0; - out_4440336535941280195[194] = 0; - out_4440336535941280195[195] = 0; - out_4440336535941280195[196] = 0; - out_4440336535941280195[197] = 0; - out_4440336535941280195[198] = 0; - out_4440336535941280195[199] = 0; - out_4440336535941280195[200] = 0; - out_4440336535941280195[201] = 0; - out_4440336535941280195[202] = 0; - out_4440336535941280195[203] = 0; - out_4440336535941280195[204] = 0; - out_4440336535941280195[205] = 0; - out_4440336535941280195[206] = 0; - out_4440336535941280195[207] = 0; - out_4440336535941280195[208] = 0; - out_4440336535941280195[209] = 1; - out_4440336535941280195[210] = 0; - out_4440336535941280195[211] = 0; - out_4440336535941280195[212] = 0; - out_4440336535941280195[213] = 0; - out_4440336535941280195[214] = 0; - out_4440336535941280195[215] = 0; - out_4440336535941280195[216] = 0; - out_4440336535941280195[217] = 0; - out_4440336535941280195[218] = 0; - out_4440336535941280195[219] = 0; - out_4440336535941280195[220] = 0; - out_4440336535941280195[221] = 0; - out_4440336535941280195[222] = 0; - out_4440336535941280195[223] = 0; - out_4440336535941280195[224] = 0; - out_4440336535941280195[225] = 0; - out_4440336535941280195[226] = 0; - out_4440336535941280195[227] = 0; - out_4440336535941280195[228] = 1; - out_4440336535941280195[229] = 0; - out_4440336535941280195[230] = 0; - out_4440336535941280195[231] = 0; - out_4440336535941280195[232] = 0; - out_4440336535941280195[233] = 0; - out_4440336535941280195[234] = 0; - out_4440336535941280195[235] = 0; - out_4440336535941280195[236] = 0; - out_4440336535941280195[237] = 0; - out_4440336535941280195[238] = 0; - out_4440336535941280195[239] = 0; - out_4440336535941280195[240] = 0; - out_4440336535941280195[241] = 0; - out_4440336535941280195[242] = 0; - out_4440336535941280195[243] = 0; - out_4440336535941280195[244] = 0; - out_4440336535941280195[245] = 0; - out_4440336535941280195[246] = 0; - out_4440336535941280195[247] = 1; - out_4440336535941280195[248] = 0; - out_4440336535941280195[249] = 0; - out_4440336535941280195[250] = 0; - out_4440336535941280195[251] = 0; - out_4440336535941280195[252] = 0; - out_4440336535941280195[253] = 0; - out_4440336535941280195[254] = 0; - out_4440336535941280195[255] = 0; - out_4440336535941280195[256] = 0; - out_4440336535941280195[257] = 0; - out_4440336535941280195[258] = 0; - out_4440336535941280195[259] = 0; - out_4440336535941280195[260] = 0; - out_4440336535941280195[261] = 0; - out_4440336535941280195[262] = 0; - out_4440336535941280195[263] = 0; - out_4440336535941280195[264] = 0; - out_4440336535941280195[265] = 0; - out_4440336535941280195[266] = 1; - out_4440336535941280195[267] = 0; - out_4440336535941280195[268] = 0; - out_4440336535941280195[269] = 0; - out_4440336535941280195[270] = 0; - out_4440336535941280195[271] = 0; - out_4440336535941280195[272] = 0; - out_4440336535941280195[273] = 0; - out_4440336535941280195[274] = 0; - out_4440336535941280195[275] = 0; - out_4440336535941280195[276] = 0; - out_4440336535941280195[277] = 0; - out_4440336535941280195[278] = 0; - out_4440336535941280195[279] = 0; - out_4440336535941280195[280] = 0; - out_4440336535941280195[281] = 0; - out_4440336535941280195[282] = 0; - out_4440336535941280195[283] = 0; - out_4440336535941280195[284] = 0; - out_4440336535941280195[285] = 1; - out_4440336535941280195[286] = 0; - out_4440336535941280195[287] = 0; - out_4440336535941280195[288] = 0; - out_4440336535941280195[289] = 0; - out_4440336535941280195[290] = 0; - out_4440336535941280195[291] = 0; - out_4440336535941280195[292] = 0; - out_4440336535941280195[293] = 0; - out_4440336535941280195[294] = 0; - out_4440336535941280195[295] = 0; - out_4440336535941280195[296] = 0; - out_4440336535941280195[297] = 0; - out_4440336535941280195[298] = 0; - out_4440336535941280195[299] = 0; - out_4440336535941280195[300] = 0; - out_4440336535941280195[301] = 0; - out_4440336535941280195[302] = 0; - out_4440336535941280195[303] = 0; - out_4440336535941280195[304] = 1; - out_4440336535941280195[305] = 0; - out_4440336535941280195[306] = 0; - out_4440336535941280195[307] = 0; - out_4440336535941280195[308] = 0; - out_4440336535941280195[309] = 0; - out_4440336535941280195[310] = 0; - out_4440336535941280195[311] = 0; - out_4440336535941280195[312] = 0; - out_4440336535941280195[313] = 0; - out_4440336535941280195[314] = 0; - out_4440336535941280195[315] = 0; - out_4440336535941280195[316] = 0; - out_4440336535941280195[317] = 0; - out_4440336535941280195[318] = 0; - out_4440336535941280195[319] = 0; - out_4440336535941280195[320] = 0; - out_4440336535941280195[321] = 0; - out_4440336535941280195[322] = 0; - out_4440336535941280195[323] = 1; +void F_fun(double *state, double dt, double *out_2147733219597398466) { + out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[2] = 0; + out_2147733219597398466[3] = 0; + out_2147733219597398466[4] = 0; + out_2147733219597398466[5] = 0; + out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[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_2147733219597398466[9] = 0; + out_2147733219597398466[10] = 0; + out_2147733219597398466[11] = 0; + out_2147733219597398466[12] = 0; + out_2147733219597398466[13] = 0; + out_2147733219597398466[14] = 0; + out_2147733219597398466[15] = 0; + out_2147733219597398466[16] = 0; + out_2147733219597398466[17] = 0; + out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[20] = 0; + out_2147733219597398466[21] = 0; + out_2147733219597398466[22] = 0; + out_2147733219597398466[23] = 0; + out_2147733219597398466[24] = 0; + out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[27] = 0; + out_2147733219597398466[28] = 0; + out_2147733219597398466[29] = 0; + out_2147733219597398466[30] = 0; + out_2147733219597398466[31] = 0; + out_2147733219597398466[32] = 0; + out_2147733219597398466[33] = 0; + out_2147733219597398466[34] = 0; + out_2147733219597398466[35] = 0; + out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[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_2147733219597398466[39] = 0; + out_2147733219597398466[40] = 0; + out_2147733219597398466[41] = 0; + out_2147733219597398466[42] = 0; + out_2147733219597398466[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_2147733219597398466[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_2147733219597398466[45] = 0; + out_2147733219597398466[46] = 0; + out_2147733219597398466[47] = 0; + out_2147733219597398466[48] = 0; + out_2147733219597398466[49] = 0; + out_2147733219597398466[50] = 0; + out_2147733219597398466[51] = 0; + out_2147733219597398466[52] = 0; + out_2147733219597398466[53] = 0; + out_2147733219597398466[54] = 0; + out_2147733219597398466[55] = 0; + out_2147733219597398466[56] = 0; + out_2147733219597398466[57] = 1; + out_2147733219597398466[58] = 0; + out_2147733219597398466[59] = 0; + out_2147733219597398466[60] = 0; + out_2147733219597398466[61] = 0; + out_2147733219597398466[62] = 0; + out_2147733219597398466[63] = 0; + out_2147733219597398466[64] = 0; + out_2147733219597398466[65] = 0; + out_2147733219597398466[66] = dt; + out_2147733219597398466[67] = 0; + out_2147733219597398466[68] = 0; + out_2147733219597398466[69] = 0; + out_2147733219597398466[70] = 0; + out_2147733219597398466[71] = 0; + out_2147733219597398466[72] = 0; + out_2147733219597398466[73] = 0; + out_2147733219597398466[74] = 0; + out_2147733219597398466[75] = 0; + out_2147733219597398466[76] = 1; + out_2147733219597398466[77] = 0; + out_2147733219597398466[78] = 0; + out_2147733219597398466[79] = 0; + out_2147733219597398466[80] = 0; + out_2147733219597398466[81] = 0; + out_2147733219597398466[82] = 0; + out_2147733219597398466[83] = 0; + out_2147733219597398466[84] = 0; + out_2147733219597398466[85] = dt; + out_2147733219597398466[86] = 0; + out_2147733219597398466[87] = 0; + out_2147733219597398466[88] = 0; + out_2147733219597398466[89] = 0; + out_2147733219597398466[90] = 0; + out_2147733219597398466[91] = 0; + out_2147733219597398466[92] = 0; + out_2147733219597398466[93] = 0; + out_2147733219597398466[94] = 0; + out_2147733219597398466[95] = 1; + out_2147733219597398466[96] = 0; + out_2147733219597398466[97] = 0; + out_2147733219597398466[98] = 0; + out_2147733219597398466[99] = 0; + out_2147733219597398466[100] = 0; + out_2147733219597398466[101] = 0; + out_2147733219597398466[102] = 0; + out_2147733219597398466[103] = 0; + out_2147733219597398466[104] = dt; + out_2147733219597398466[105] = 0; + out_2147733219597398466[106] = 0; + out_2147733219597398466[107] = 0; + out_2147733219597398466[108] = 0; + out_2147733219597398466[109] = 0; + out_2147733219597398466[110] = 0; + out_2147733219597398466[111] = 0; + out_2147733219597398466[112] = 0; + out_2147733219597398466[113] = 0; + out_2147733219597398466[114] = 1; + out_2147733219597398466[115] = 0; + out_2147733219597398466[116] = 0; + out_2147733219597398466[117] = 0; + out_2147733219597398466[118] = 0; + out_2147733219597398466[119] = 0; + out_2147733219597398466[120] = 0; + out_2147733219597398466[121] = 0; + out_2147733219597398466[122] = 0; + out_2147733219597398466[123] = 0; + out_2147733219597398466[124] = 0; + out_2147733219597398466[125] = 0; + out_2147733219597398466[126] = 0; + out_2147733219597398466[127] = 0; + out_2147733219597398466[128] = 0; + out_2147733219597398466[129] = 0; + out_2147733219597398466[130] = 0; + out_2147733219597398466[131] = 0; + out_2147733219597398466[132] = 0; + out_2147733219597398466[133] = 1; + out_2147733219597398466[134] = 0; + out_2147733219597398466[135] = 0; + out_2147733219597398466[136] = 0; + out_2147733219597398466[137] = 0; + out_2147733219597398466[138] = 0; + out_2147733219597398466[139] = 0; + out_2147733219597398466[140] = 0; + out_2147733219597398466[141] = 0; + out_2147733219597398466[142] = 0; + out_2147733219597398466[143] = 0; + out_2147733219597398466[144] = 0; + out_2147733219597398466[145] = 0; + out_2147733219597398466[146] = 0; + out_2147733219597398466[147] = 0; + out_2147733219597398466[148] = 0; + out_2147733219597398466[149] = 0; + out_2147733219597398466[150] = 0; + out_2147733219597398466[151] = 0; + out_2147733219597398466[152] = 1; + out_2147733219597398466[153] = 0; + out_2147733219597398466[154] = 0; + out_2147733219597398466[155] = 0; + out_2147733219597398466[156] = 0; + out_2147733219597398466[157] = 0; + out_2147733219597398466[158] = 0; + out_2147733219597398466[159] = 0; + out_2147733219597398466[160] = 0; + out_2147733219597398466[161] = 0; + out_2147733219597398466[162] = 0; + out_2147733219597398466[163] = 0; + out_2147733219597398466[164] = 0; + out_2147733219597398466[165] = 0; + out_2147733219597398466[166] = 0; + out_2147733219597398466[167] = 0; + out_2147733219597398466[168] = 0; + out_2147733219597398466[169] = 0; + out_2147733219597398466[170] = 0; + out_2147733219597398466[171] = 1; + out_2147733219597398466[172] = 0; + out_2147733219597398466[173] = 0; + out_2147733219597398466[174] = 0; + out_2147733219597398466[175] = 0; + out_2147733219597398466[176] = 0; + out_2147733219597398466[177] = 0; + out_2147733219597398466[178] = 0; + out_2147733219597398466[179] = 0; + out_2147733219597398466[180] = 0; + out_2147733219597398466[181] = 0; + out_2147733219597398466[182] = 0; + out_2147733219597398466[183] = 0; + out_2147733219597398466[184] = 0; + out_2147733219597398466[185] = 0; + out_2147733219597398466[186] = 0; + out_2147733219597398466[187] = 0; + out_2147733219597398466[188] = 0; + out_2147733219597398466[189] = 0; + out_2147733219597398466[190] = 1; + out_2147733219597398466[191] = 0; + out_2147733219597398466[192] = 0; + out_2147733219597398466[193] = 0; + out_2147733219597398466[194] = 0; + out_2147733219597398466[195] = 0; + out_2147733219597398466[196] = 0; + out_2147733219597398466[197] = 0; + out_2147733219597398466[198] = 0; + out_2147733219597398466[199] = 0; + out_2147733219597398466[200] = 0; + out_2147733219597398466[201] = 0; + out_2147733219597398466[202] = 0; + out_2147733219597398466[203] = 0; + out_2147733219597398466[204] = 0; + out_2147733219597398466[205] = 0; + out_2147733219597398466[206] = 0; + out_2147733219597398466[207] = 0; + out_2147733219597398466[208] = 0; + out_2147733219597398466[209] = 1; + out_2147733219597398466[210] = 0; + out_2147733219597398466[211] = 0; + out_2147733219597398466[212] = 0; + out_2147733219597398466[213] = 0; + out_2147733219597398466[214] = 0; + out_2147733219597398466[215] = 0; + out_2147733219597398466[216] = 0; + out_2147733219597398466[217] = 0; + out_2147733219597398466[218] = 0; + out_2147733219597398466[219] = 0; + out_2147733219597398466[220] = 0; + out_2147733219597398466[221] = 0; + out_2147733219597398466[222] = 0; + out_2147733219597398466[223] = 0; + out_2147733219597398466[224] = 0; + out_2147733219597398466[225] = 0; + out_2147733219597398466[226] = 0; + out_2147733219597398466[227] = 0; + out_2147733219597398466[228] = 1; + out_2147733219597398466[229] = 0; + out_2147733219597398466[230] = 0; + out_2147733219597398466[231] = 0; + out_2147733219597398466[232] = 0; + out_2147733219597398466[233] = 0; + out_2147733219597398466[234] = 0; + out_2147733219597398466[235] = 0; + out_2147733219597398466[236] = 0; + out_2147733219597398466[237] = 0; + out_2147733219597398466[238] = 0; + out_2147733219597398466[239] = 0; + out_2147733219597398466[240] = 0; + out_2147733219597398466[241] = 0; + out_2147733219597398466[242] = 0; + out_2147733219597398466[243] = 0; + out_2147733219597398466[244] = 0; + out_2147733219597398466[245] = 0; + out_2147733219597398466[246] = 0; + out_2147733219597398466[247] = 1; + out_2147733219597398466[248] = 0; + out_2147733219597398466[249] = 0; + out_2147733219597398466[250] = 0; + out_2147733219597398466[251] = 0; + out_2147733219597398466[252] = 0; + out_2147733219597398466[253] = 0; + out_2147733219597398466[254] = 0; + out_2147733219597398466[255] = 0; + out_2147733219597398466[256] = 0; + out_2147733219597398466[257] = 0; + out_2147733219597398466[258] = 0; + out_2147733219597398466[259] = 0; + out_2147733219597398466[260] = 0; + out_2147733219597398466[261] = 0; + out_2147733219597398466[262] = 0; + out_2147733219597398466[263] = 0; + out_2147733219597398466[264] = 0; + out_2147733219597398466[265] = 0; + out_2147733219597398466[266] = 1; + out_2147733219597398466[267] = 0; + out_2147733219597398466[268] = 0; + out_2147733219597398466[269] = 0; + out_2147733219597398466[270] = 0; + out_2147733219597398466[271] = 0; + out_2147733219597398466[272] = 0; + out_2147733219597398466[273] = 0; + out_2147733219597398466[274] = 0; + out_2147733219597398466[275] = 0; + out_2147733219597398466[276] = 0; + out_2147733219597398466[277] = 0; + out_2147733219597398466[278] = 0; + out_2147733219597398466[279] = 0; + out_2147733219597398466[280] = 0; + out_2147733219597398466[281] = 0; + out_2147733219597398466[282] = 0; + out_2147733219597398466[283] = 0; + out_2147733219597398466[284] = 0; + out_2147733219597398466[285] = 1; + out_2147733219597398466[286] = 0; + out_2147733219597398466[287] = 0; + out_2147733219597398466[288] = 0; + out_2147733219597398466[289] = 0; + out_2147733219597398466[290] = 0; + out_2147733219597398466[291] = 0; + out_2147733219597398466[292] = 0; + out_2147733219597398466[293] = 0; + out_2147733219597398466[294] = 0; + out_2147733219597398466[295] = 0; + out_2147733219597398466[296] = 0; + out_2147733219597398466[297] = 0; + out_2147733219597398466[298] = 0; + out_2147733219597398466[299] = 0; + out_2147733219597398466[300] = 0; + out_2147733219597398466[301] = 0; + out_2147733219597398466[302] = 0; + out_2147733219597398466[303] = 0; + out_2147733219597398466[304] = 1; + out_2147733219597398466[305] = 0; + out_2147733219597398466[306] = 0; + out_2147733219597398466[307] = 0; + out_2147733219597398466[308] = 0; + out_2147733219597398466[309] = 0; + out_2147733219597398466[310] = 0; + out_2147733219597398466[311] = 0; + out_2147733219597398466[312] = 0; + out_2147733219597398466[313] = 0; + out_2147733219597398466[314] = 0; + out_2147733219597398466[315] = 0; + out_2147733219597398466[316] = 0; + out_2147733219597398466[317] = 0; + out_2147733219597398466[318] = 0; + out_2147733219597398466[319] = 0; + out_2147733219597398466[320] = 0; + out_2147733219597398466[321] = 0; + out_2147733219597398466[322] = 0; + out_2147733219597398466[323] = 1; } -void h_4(double *state, double *unused, double *out_1055205231970937411) { - out_1055205231970937411[0] = state[6] + state[9]; - out_1055205231970937411[1] = state[7] + state[10]; - out_1055205231970937411[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_390661508853925842) { + out_390661508853925842[0] = state[6] + state[9]; + out_390661508853925842[1] = state[7] + state[10]; + out_390661508853925842[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5232245798722086233) { - out_5232245798722086233[0] = 0; - out_5232245798722086233[1] = 0; - out_5232245798722086233[2] = 0; - out_5232245798722086233[3] = 0; - out_5232245798722086233[4] = 0; - out_5232245798722086233[5] = 0; - out_5232245798722086233[6] = 1; - out_5232245798722086233[7] = 0; - out_5232245798722086233[8] = 0; - out_5232245798722086233[9] = 1; - out_5232245798722086233[10] = 0; - out_5232245798722086233[11] = 0; - out_5232245798722086233[12] = 0; - out_5232245798722086233[13] = 0; - out_5232245798722086233[14] = 0; - out_5232245798722086233[15] = 0; - out_5232245798722086233[16] = 0; - out_5232245798722086233[17] = 0; - out_5232245798722086233[18] = 0; - out_5232245798722086233[19] = 0; - out_5232245798722086233[20] = 0; - out_5232245798722086233[21] = 0; - out_5232245798722086233[22] = 0; - out_5232245798722086233[23] = 0; - out_5232245798722086233[24] = 0; - out_5232245798722086233[25] = 1; - out_5232245798722086233[26] = 0; - out_5232245798722086233[27] = 0; - out_5232245798722086233[28] = 1; - out_5232245798722086233[29] = 0; - out_5232245798722086233[30] = 0; - out_5232245798722086233[31] = 0; - out_5232245798722086233[32] = 0; - out_5232245798722086233[33] = 0; - out_5232245798722086233[34] = 0; - out_5232245798722086233[35] = 0; - out_5232245798722086233[36] = 0; - out_5232245798722086233[37] = 0; - out_5232245798722086233[38] = 0; - out_5232245798722086233[39] = 0; - out_5232245798722086233[40] = 0; - out_5232245798722086233[41] = 0; - out_5232245798722086233[42] = 0; - out_5232245798722086233[43] = 0; - out_5232245798722086233[44] = 1; - out_5232245798722086233[45] = 0; - out_5232245798722086233[46] = 0; - out_5232245798722086233[47] = 1; - out_5232245798722086233[48] = 0; - out_5232245798722086233[49] = 0; - out_5232245798722086233[50] = 0; - out_5232245798722086233[51] = 0; - out_5232245798722086233[52] = 0; - out_5232245798722086233[53] = 0; +void H_4(double *state, double *unused, double *out_3712928655556393493) { + out_3712928655556393493[0] = 0; + out_3712928655556393493[1] = 0; + out_3712928655556393493[2] = 0; + out_3712928655556393493[3] = 0; + out_3712928655556393493[4] = 0; + out_3712928655556393493[5] = 0; + out_3712928655556393493[6] = 1; + out_3712928655556393493[7] = 0; + out_3712928655556393493[8] = 0; + out_3712928655556393493[9] = 1; + out_3712928655556393493[10] = 0; + out_3712928655556393493[11] = 0; + out_3712928655556393493[12] = 0; + out_3712928655556393493[13] = 0; + out_3712928655556393493[14] = 0; + out_3712928655556393493[15] = 0; + out_3712928655556393493[16] = 0; + out_3712928655556393493[17] = 0; + out_3712928655556393493[18] = 0; + out_3712928655556393493[19] = 0; + out_3712928655556393493[20] = 0; + out_3712928655556393493[21] = 0; + out_3712928655556393493[22] = 0; + out_3712928655556393493[23] = 0; + out_3712928655556393493[24] = 0; + out_3712928655556393493[25] = 1; + out_3712928655556393493[26] = 0; + out_3712928655556393493[27] = 0; + out_3712928655556393493[28] = 1; + out_3712928655556393493[29] = 0; + out_3712928655556393493[30] = 0; + out_3712928655556393493[31] = 0; + out_3712928655556393493[32] = 0; + out_3712928655556393493[33] = 0; + out_3712928655556393493[34] = 0; + out_3712928655556393493[35] = 0; + out_3712928655556393493[36] = 0; + out_3712928655556393493[37] = 0; + out_3712928655556393493[38] = 0; + out_3712928655556393493[39] = 0; + out_3712928655556393493[40] = 0; + out_3712928655556393493[41] = 0; + out_3712928655556393493[42] = 0; + out_3712928655556393493[43] = 0; + out_3712928655556393493[44] = 1; + out_3712928655556393493[45] = 0; + out_3712928655556393493[46] = 0; + out_3712928655556393493[47] = 1; + out_3712928655556393493[48] = 0; + out_3712928655556393493[49] = 0; + out_3712928655556393493[50] = 0; + out_3712928655556393493[51] = 0; + out_3712928655556393493[52] = 0; + out_3712928655556393493[53] = 0; } -void h_10(double *state, double *unused, double *out_4616527314461451432) { - out_4616527314461451432[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_4616527314461451432[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_4616527314461451432[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_4622668875416301287) { + out_4622668875416301287[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_4622668875416301287[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_4622668875416301287[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_5353452105284919759) { - out_5353452105284919759[0] = 0; - out_5353452105284919759[1] = 9.8100000000000005*cos(state[1]); - out_5353452105284919759[2] = 0; - out_5353452105284919759[3] = 0; - out_5353452105284919759[4] = -state[8]; - out_5353452105284919759[5] = state[7]; - out_5353452105284919759[6] = 0; - out_5353452105284919759[7] = state[5]; - out_5353452105284919759[8] = -state[4]; - out_5353452105284919759[9] = 0; - out_5353452105284919759[10] = 0; - out_5353452105284919759[11] = 0; - out_5353452105284919759[12] = 1; - out_5353452105284919759[13] = 0; - out_5353452105284919759[14] = 0; - out_5353452105284919759[15] = 1; - out_5353452105284919759[16] = 0; - out_5353452105284919759[17] = 0; - out_5353452105284919759[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_5353452105284919759[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_5353452105284919759[20] = 0; - out_5353452105284919759[21] = state[8]; - out_5353452105284919759[22] = 0; - out_5353452105284919759[23] = -state[6]; - out_5353452105284919759[24] = -state[5]; - out_5353452105284919759[25] = 0; - out_5353452105284919759[26] = state[3]; - out_5353452105284919759[27] = 0; - out_5353452105284919759[28] = 0; - out_5353452105284919759[29] = 0; - out_5353452105284919759[30] = 0; - out_5353452105284919759[31] = 1; - out_5353452105284919759[32] = 0; - out_5353452105284919759[33] = 0; - out_5353452105284919759[34] = 1; - out_5353452105284919759[35] = 0; - out_5353452105284919759[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_5353452105284919759[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_5353452105284919759[38] = 0; - out_5353452105284919759[39] = -state[7]; - out_5353452105284919759[40] = state[6]; - out_5353452105284919759[41] = 0; - out_5353452105284919759[42] = state[4]; - out_5353452105284919759[43] = -state[3]; - out_5353452105284919759[44] = 0; - out_5353452105284919759[45] = 0; - out_5353452105284919759[46] = 0; - out_5353452105284919759[47] = 0; - out_5353452105284919759[48] = 0; - out_5353452105284919759[49] = 0; - out_5353452105284919759[50] = 1; - out_5353452105284919759[51] = 0; - out_5353452105284919759[52] = 0; - out_5353452105284919759[53] = 1; +void H_10(double *state, double *unused, double *out_9222803918002037771) { + out_9222803918002037771[0] = 0; + out_9222803918002037771[1] = 9.8100000000000005*cos(state[1]); + out_9222803918002037771[2] = 0; + out_9222803918002037771[3] = 0; + out_9222803918002037771[4] = -state[8]; + out_9222803918002037771[5] = state[7]; + out_9222803918002037771[6] = 0; + out_9222803918002037771[7] = state[5]; + out_9222803918002037771[8] = -state[4]; + out_9222803918002037771[9] = 0; + out_9222803918002037771[10] = 0; + out_9222803918002037771[11] = 0; + out_9222803918002037771[12] = 1; + out_9222803918002037771[13] = 0; + out_9222803918002037771[14] = 0; + out_9222803918002037771[15] = 1; + out_9222803918002037771[16] = 0; + out_9222803918002037771[17] = 0; + out_9222803918002037771[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_9222803918002037771[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_9222803918002037771[20] = 0; + out_9222803918002037771[21] = state[8]; + out_9222803918002037771[22] = 0; + out_9222803918002037771[23] = -state[6]; + out_9222803918002037771[24] = -state[5]; + out_9222803918002037771[25] = 0; + out_9222803918002037771[26] = state[3]; + out_9222803918002037771[27] = 0; + out_9222803918002037771[28] = 0; + out_9222803918002037771[29] = 0; + out_9222803918002037771[30] = 0; + out_9222803918002037771[31] = 1; + out_9222803918002037771[32] = 0; + out_9222803918002037771[33] = 0; + out_9222803918002037771[34] = 1; + out_9222803918002037771[35] = 0; + out_9222803918002037771[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_9222803918002037771[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_9222803918002037771[38] = 0; + out_9222803918002037771[39] = -state[7]; + out_9222803918002037771[40] = state[6]; + out_9222803918002037771[41] = 0; + out_9222803918002037771[42] = state[4]; + out_9222803918002037771[43] = -state[3]; + out_9222803918002037771[44] = 0; + out_9222803918002037771[45] = 0; + out_9222803918002037771[46] = 0; + out_9222803918002037771[47] = 0; + out_9222803918002037771[48] = 0; + out_9222803918002037771[49] = 0; + out_9222803918002037771[50] = 1; + out_9222803918002037771[51] = 0; + out_9222803918002037771[52] = 0; + out_9222803918002037771[53] = 1; } -void h_13(double *state, double *unused, double *out_35896446347085605) { - out_35896446347085605[0] = state[3]; - out_35896446347085605[1] = state[4]; - out_35896446347085605[2] = state[5]; +void h_13(double *state, double *unused, double *out_7573083638476335875) { + out_7573083638476335875[0] = state[3]; + out_7573083638476335875[1] = state[4]; + out_7573083638476335875[2] = state[5]; } -void H_13(double *state, double *unused, double *out_5603867066670764454) { - out_5603867066670764454[0] = 0; - out_5603867066670764454[1] = 0; - out_5603867066670764454[2] = 0; - out_5603867066670764454[3] = 1; - out_5603867066670764454[4] = 0; - out_5603867066670764454[5] = 0; - out_5603867066670764454[6] = 0; - out_5603867066670764454[7] = 0; - out_5603867066670764454[8] = 0; - out_5603867066670764454[9] = 0; - out_5603867066670764454[10] = 0; - out_5603867066670764454[11] = 0; - out_5603867066670764454[12] = 0; - out_5603867066670764454[13] = 0; - out_5603867066670764454[14] = 0; - out_5603867066670764454[15] = 0; - out_5603867066670764454[16] = 0; - out_5603867066670764454[17] = 0; - out_5603867066670764454[18] = 0; - out_5603867066670764454[19] = 0; - out_5603867066670764454[20] = 0; - out_5603867066670764454[21] = 0; - out_5603867066670764454[22] = 1; - out_5603867066670764454[23] = 0; - out_5603867066670764454[24] = 0; - out_5603867066670764454[25] = 0; - out_5603867066670764454[26] = 0; - out_5603867066670764454[27] = 0; - out_5603867066670764454[28] = 0; - out_5603867066670764454[29] = 0; - out_5603867066670764454[30] = 0; - out_5603867066670764454[31] = 0; - out_5603867066670764454[32] = 0; - out_5603867066670764454[33] = 0; - out_5603867066670764454[34] = 0; - out_5603867066670764454[35] = 0; - out_5603867066670764454[36] = 0; - out_5603867066670764454[37] = 0; - out_5603867066670764454[38] = 0; - out_5603867066670764454[39] = 0; - out_5603867066670764454[40] = 0; - out_5603867066670764454[41] = 1; - out_5603867066670764454[42] = 0; - out_5603867066670764454[43] = 0; - out_5603867066670764454[44] = 0; - out_5603867066670764454[45] = 0; - out_5603867066670764454[46] = 0; - out_5603867066670764454[47] = 0; - out_5603867066670764454[48] = 0; - out_5603867066670764454[49] = 0; - out_5603867066670764454[50] = 0; - out_5603867066670764454[51] = 0; - out_5603867066670764454[52] = 0; - out_5603867066670764454[53] = 0; +void H_13(double *state, double *unused, double *out_500654830224060692) { + out_500654830224060692[0] = 0; + out_500654830224060692[1] = 0; + out_500654830224060692[2] = 0; + out_500654830224060692[3] = 1; + out_500654830224060692[4] = 0; + out_500654830224060692[5] = 0; + out_500654830224060692[6] = 0; + out_500654830224060692[7] = 0; + out_500654830224060692[8] = 0; + out_500654830224060692[9] = 0; + out_500654830224060692[10] = 0; + out_500654830224060692[11] = 0; + out_500654830224060692[12] = 0; + out_500654830224060692[13] = 0; + out_500654830224060692[14] = 0; + out_500654830224060692[15] = 0; + out_500654830224060692[16] = 0; + out_500654830224060692[17] = 0; + out_500654830224060692[18] = 0; + out_500654830224060692[19] = 0; + out_500654830224060692[20] = 0; + out_500654830224060692[21] = 0; + out_500654830224060692[22] = 1; + out_500654830224060692[23] = 0; + out_500654830224060692[24] = 0; + out_500654830224060692[25] = 0; + out_500654830224060692[26] = 0; + out_500654830224060692[27] = 0; + out_500654830224060692[28] = 0; + out_500654830224060692[29] = 0; + out_500654830224060692[30] = 0; + out_500654830224060692[31] = 0; + out_500654830224060692[32] = 0; + out_500654830224060692[33] = 0; + out_500654830224060692[34] = 0; + out_500654830224060692[35] = 0; + out_500654830224060692[36] = 0; + out_500654830224060692[37] = 0; + out_500654830224060692[38] = 0; + out_500654830224060692[39] = 0; + out_500654830224060692[40] = 0; + out_500654830224060692[41] = 1; + out_500654830224060692[42] = 0; + out_500654830224060692[43] = 0; + out_500654830224060692[44] = 0; + out_500654830224060692[45] = 0; + out_500654830224060692[46] = 0; + out_500654830224060692[47] = 0; + out_500654830224060692[48] = 0; + out_500654830224060692[49] = 0; + out_500654830224060692[50] = 0; + out_500654830224060692[51] = 0; + out_500654830224060692[52] = 0; + out_500654830224060692[53] = 0; } -void h_14(double *state, double *unused, double *out_631141063206634270) { - out_631141063206634270[0] = state[6]; - out_631141063206634270[1] = state[7]; - out_631141063206634270[2] = state[8]; +void h_14(double *state, double *unused, double *out_4512296191106361905) { + out_4512296191106361905[0] = state[6]; + out_4512296191106361905[1] = state[7]; + out_4512296191106361905[2] = state[8]; } -void H_14(double *state, double *unused, double *out_9195486655061570762) { - out_9195486655061570762[0] = 0; - out_9195486655061570762[1] = 0; - out_9195486655061570762[2] = 0; - out_9195486655061570762[3] = 0; - out_9195486655061570762[4] = 0; - out_9195486655061570762[5] = 0; - out_9195486655061570762[6] = 1; - out_9195486655061570762[7] = 0; - out_9195486655061570762[8] = 0; - out_9195486655061570762[9] = 0; - out_9195486655061570762[10] = 0; - out_9195486655061570762[11] = 0; - out_9195486655061570762[12] = 0; - out_9195486655061570762[13] = 0; - out_9195486655061570762[14] = 0; - out_9195486655061570762[15] = 0; - out_9195486655061570762[16] = 0; - out_9195486655061570762[17] = 0; - out_9195486655061570762[18] = 0; - out_9195486655061570762[19] = 0; - out_9195486655061570762[20] = 0; - out_9195486655061570762[21] = 0; - out_9195486655061570762[22] = 0; - out_9195486655061570762[23] = 0; - out_9195486655061570762[24] = 0; - out_9195486655061570762[25] = 1; - out_9195486655061570762[26] = 0; - out_9195486655061570762[27] = 0; - out_9195486655061570762[28] = 0; - out_9195486655061570762[29] = 0; - out_9195486655061570762[30] = 0; - out_9195486655061570762[31] = 0; - out_9195486655061570762[32] = 0; - out_9195486655061570762[33] = 0; - out_9195486655061570762[34] = 0; - out_9195486655061570762[35] = 0; - out_9195486655061570762[36] = 0; - out_9195486655061570762[37] = 0; - out_9195486655061570762[38] = 0; - out_9195486655061570762[39] = 0; - out_9195486655061570762[40] = 0; - out_9195486655061570762[41] = 0; - out_9195486655061570762[42] = 0; - out_9195486655061570762[43] = 0; - out_9195486655061570762[44] = 1; - out_9195486655061570762[45] = 0; - out_9195486655061570762[46] = 0; - out_9195486655061570762[47] = 0; - out_9195486655061570762[48] = 0; - out_9195486655061570762[49] = 0; - out_9195486655061570762[50] = 0; - out_9195486655061570762[51] = 0; - out_9195486655061570762[52] = 0; - out_9195486655061570762[53] = 0; +void H_14(double *state, double *unused, double *out_250312200783091036) { + out_250312200783091036[0] = 0; + out_250312200783091036[1] = 0; + out_250312200783091036[2] = 0; + out_250312200783091036[3] = 0; + out_250312200783091036[4] = 0; + out_250312200783091036[5] = 0; + out_250312200783091036[6] = 1; + out_250312200783091036[7] = 0; + out_250312200783091036[8] = 0; + out_250312200783091036[9] = 0; + out_250312200783091036[10] = 0; + out_250312200783091036[11] = 0; + out_250312200783091036[12] = 0; + out_250312200783091036[13] = 0; + out_250312200783091036[14] = 0; + out_250312200783091036[15] = 0; + out_250312200783091036[16] = 0; + out_250312200783091036[17] = 0; + out_250312200783091036[18] = 0; + out_250312200783091036[19] = 0; + out_250312200783091036[20] = 0; + out_250312200783091036[21] = 0; + out_250312200783091036[22] = 0; + out_250312200783091036[23] = 0; + out_250312200783091036[24] = 0; + out_250312200783091036[25] = 1; + out_250312200783091036[26] = 0; + out_250312200783091036[27] = 0; + out_250312200783091036[28] = 0; + out_250312200783091036[29] = 0; + out_250312200783091036[30] = 0; + out_250312200783091036[31] = 0; + out_250312200783091036[32] = 0; + out_250312200783091036[33] = 0; + out_250312200783091036[34] = 0; + out_250312200783091036[35] = 0; + out_250312200783091036[36] = 0; + out_250312200783091036[37] = 0; + out_250312200783091036[38] = 0; + out_250312200783091036[39] = 0; + out_250312200783091036[40] = 0; + out_250312200783091036[41] = 0; + out_250312200783091036[42] = 0; + out_250312200783091036[43] = 0; + out_250312200783091036[44] = 1; + out_250312200783091036[45] = 0; + out_250312200783091036[46] = 0; + out_250312200783091036[47] = 0; + out_250312200783091036[48] = 0; + out_250312200783091036[49] = 0; + out_250312200783091036[50] = 0; + out_250312200783091036[51] = 0; + out_250312200783091036[52] = 0; + out_250312200783091036[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_3576801538095390920) { - err_fun(nom_x, delta_x, out_3576801538095390920); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5836812006117722374) { + err_fun(nom_x, delta_x, out_5836812006117722374); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3629669491519681211) { - inv_err_fun(nom_x, true_x, out_3629669491519681211); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_368701023819567149) { + inv_err_fun(nom_x, true_x, out_368701023819567149); } -void pose_H_mod_fun(double *state, double *out_128220774054724087) { - H_mod_fun(state, out_128220774054724087); +void pose_H_mod_fun(double *state, double *out_5720830998239473631) { + H_mod_fun(state, out_5720830998239473631); } -void pose_f_fun(double *state, double dt, double *out_8022018128441912094) { - f_fun(state, dt, out_8022018128441912094); +void pose_f_fun(double *state, double dt, double *out_3302434187336556995) { + f_fun(state, dt, out_3302434187336556995); } -void pose_F_fun(double *state, double dt, double *out_4440336535941280195) { - F_fun(state, dt, out_4440336535941280195); +void pose_F_fun(double *state, double dt, double *out_2147733219597398466) { + F_fun(state, dt, out_2147733219597398466); } -void pose_h_4(double *state, double *unused, double *out_1055205231970937411) { - h_4(state, unused, out_1055205231970937411); +void pose_h_4(double *state, double *unused, double *out_390661508853925842) { + h_4(state, unused, out_390661508853925842); } -void pose_H_4(double *state, double *unused, double *out_5232245798722086233) { - H_4(state, unused, out_5232245798722086233); +void pose_H_4(double *state, double *unused, double *out_3712928655556393493) { + H_4(state, unused, out_3712928655556393493); } -void pose_h_10(double *state, double *unused, double *out_4616527314461451432) { - h_10(state, unused, out_4616527314461451432); +void pose_h_10(double *state, double *unused, double *out_4622668875416301287) { + h_10(state, unused, out_4622668875416301287); } -void pose_H_10(double *state, double *unused, double *out_5353452105284919759) { - H_10(state, unused, out_5353452105284919759); +void pose_H_10(double *state, double *unused, double *out_9222803918002037771) { + H_10(state, unused, out_9222803918002037771); } -void pose_h_13(double *state, double *unused, double *out_35896446347085605) { - h_13(state, unused, out_35896446347085605); +void pose_h_13(double *state, double *unused, double *out_7573083638476335875) { + h_13(state, unused, out_7573083638476335875); } -void pose_H_13(double *state, double *unused, double *out_5603867066670764454) { - H_13(state, unused, out_5603867066670764454); +void pose_H_13(double *state, double *unused, double *out_500654830224060692) { + H_13(state, unused, out_500654830224060692); } -void pose_h_14(double *state, double *unused, double *out_631141063206634270) { - h_14(state, unused, out_631141063206634270); +void pose_h_14(double *state, double *unused, double *out_4512296191106361905) { + h_14(state, unused, out_4512296191106361905); } -void pose_H_14(double *state, double *unused, double *out_9195486655061570762) { - H_14(state, unused, out_9195486655061570762); +void pose_H_14(double *state, double *unused, double *out_250312200783091036) { + H_14(state, unused, out_250312200783091036); } 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 2bdc49407..a634f3de3 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_3576801538095390920); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3629669491519681211); -void pose_H_mod_fun(double *state, double *out_128220774054724087); -void pose_f_fun(double *state, double dt, double *out_8022018128441912094); -void pose_F_fun(double *state, double dt, double *out_4440336535941280195); -void pose_h_4(double *state, double *unused, double *out_1055205231970937411); -void pose_H_4(double *state, double *unused, double *out_5232245798722086233); -void pose_h_10(double *state, double *unused, double *out_4616527314461451432); -void pose_H_10(double *state, double *unused, double *out_5353452105284919759); -void pose_h_13(double *state, double *unused, double *out_35896446347085605); -void pose_H_13(double *state, double *unused, double *out_5603867066670764454); -void pose_h_14(double *state, double *unused, double *out_631141063206634270); -void pose_H_14(double *state, double *unused, double *out_9195486655061570762); +void pose_err_fun(double *nom_x, double *delta_x, double *out_5836812006117722374); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_368701023819567149); +void pose_H_mod_fun(double *state, double *out_5720830998239473631); +void pose_f_fun(double *state, double dt, double *out_3302434187336556995); +void pose_F_fun(double *state, double dt, double *out_2147733219597398466); +void pose_h_4(double *state, double *unused, double *out_390661508853925842); +void pose_H_4(double *state, double *unused, double *out_3712928655556393493); +void pose_h_10(double *state, double *unused, double *out_4622668875416301287); +void pose_H_10(double *state, double *unused, double *out_9222803918002037771); +void pose_h_13(double *state, double *unused, double *out_7573083638476335875); +void pose_H_13(double *state, double *unused, double *out_500654830224060692); +void pose_h_14(double *state, double *unused, double *out_4512296191106361905); +void pose_H_14(double *state, double *unused, double *out_250312200783091036); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff 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