diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.so b/msgq_repo/msgq/visionipc/visionipc_pyx.so index a4a2f9edf..de7ad17c5 100755 Binary files a/msgq_repo/msgq/visionipc/visionipc_pyx.so and b/msgq_repo/msgq/visionipc/visionipc_pyx.so differ diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index 41d6be5b3..4dcedeead 100644 Binary files a/panda/board/obj/body_h7.bin.signed and b/panda/board/obj/body_h7.bin.signed differ diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 842c76939..95ff54e4d 100755 Binary files a/panda/board/obj/body_h7/bootstub.elf and b/panda/board/obj/body_h7/bootstub.elf differ diff --git a/panda/board/obj/body_h7/main.bin b/panda/board/obj/body_h7/main.bin index 24f4c1477..3b71436f1 100755 Binary files a/panda/board/obj/body_h7/main.bin and b/panda/board/obj/body_h7/main.bin differ diff --git a/panda/board/obj/body_h7/main.elf b/panda/board/obj/body_h7/main.elf index 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b/panda/board/obj/version @@ -1 +1 @@ -DEV-d773ad90-DEBUG \ No newline at end of file +DEV-713ce294-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index c0df2737a..1ac3087aa 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_8449647197806450456) { - out_8449647197806450456[0] = delta_x[0] + nom_x[0]; - out_8449647197806450456[1] = delta_x[1] + nom_x[1]; - out_8449647197806450456[2] = delta_x[2] + nom_x[2]; - out_8449647197806450456[3] = delta_x[3] + nom_x[3]; - out_8449647197806450456[4] = delta_x[4] + nom_x[4]; - out_8449647197806450456[5] = delta_x[5] + nom_x[5]; - out_8449647197806450456[6] = delta_x[6] + nom_x[6]; - out_8449647197806450456[7] = delta_x[7] + nom_x[7]; - out_8449647197806450456[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104) { + out_2798728055434719104[0] = delta_x[0] + nom_x[0]; + out_2798728055434719104[1] = delta_x[1] + nom_x[1]; + out_2798728055434719104[2] = delta_x[2] + nom_x[2]; + out_2798728055434719104[3] = delta_x[3] + nom_x[3]; + out_2798728055434719104[4] = delta_x[4] + nom_x[4]; + out_2798728055434719104[5] = delta_x[5] + nom_x[5]; + out_2798728055434719104[6] = delta_x[6] + nom_x[6]; + out_2798728055434719104[7] = delta_x[7] + nom_x[7]; + out_2798728055434719104[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790) { - out_5810954439872327790[0] = -nom_x[0] + true_x[0]; - out_5810954439872327790[1] = -nom_x[1] + true_x[1]; - out_5810954439872327790[2] = -nom_x[2] + true_x[2]; - out_5810954439872327790[3] = -nom_x[3] + true_x[3]; - out_5810954439872327790[4] = -nom_x[4] + true_x[4]; - out_5810954439872327790[5] = -nom_x[5] + true_x[5]; - out_5810954439872327790[6] = -nom_x[6] + true_x[6]; - out_5810954439872327790[7] = -nom_x[7] + true_x[7]; - out_5810954439872327790[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { + out_5158994837086933641[0] = -nom_x[0] + true_x[0]; + out_5158994837086933641[1] = -nom_x[1] + true_x[1]; + out_5158994837086933641[2] = -nom_x[2] + true_x[2]; + out_5158994837086933641[3] = -nom_x[3] + true_x[3]; + out_5158994837086933641[4] = -nom_x[4] + true_x[4]; + out_5158994837086933641[5] = -nom_x[5] + true_x[5]; + out_5158994837086933641[6] = -nom_x[6] + true_x[6]; + out_5158994837086933641[7] = -nom_x[7] + true_x[7]; + out_5158994837086933641[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_618486876633759422) { - out_618486876633759422[0] = 1.0; - out_618486876633759422[1] = 0.0; - out_618486876633759422[2] = 0.0; - out_618486876633759422[3] = 0.0; - out_618486876633759422[4] = 0.0; - out_618486876633759422[5] = 0.0; - out_618486876633759422[6] = 0.0; - out_618486876633759422[7] = 0.0; - out_618486876633759422[8] = 0.0; - out_618486876633759422[9] = 0.0; - out_618486876633759422[10] = 1.0; - out_618486876633759422[11] = 0.0; - out_618486876633759422[12] = 0.0; - out_618486876633759422[13] = 0.0; - out_618486876633759422[14] = 0.0; - out_618486876633759422[15] = 0.0; - out_618486876633759422[16] = 0.0; - out_618486876633759422[17] = 0.0; - out_618486876633759422[18] = 0.0; - out_618486876633759422[19] = 0.0; - out_618486876633759422[20] = 1.0; - out_618486876633759422[21] = 0.0; - out_618486876633759422[22] = 0.0; - out_618486876633759422[23] = 0.0; - out_618486876633759422[24] = 0.0; - out_618486876633759422[25] = 0.0; - out_618486876633759422[26] = 0.0; - out_618486876633759422[27] = 0.0; - out_618486876633759422[28] = 0.0; - out_618486876633759422[29] = 0.0; - out_618486876633759422[30] = 1.0; - out_618486876633759422[31] = 0.0; - out_618486876633759422[32] = 0.0; - out_618486876633759422[33] = 0.0; - out_618486876633759422[34] = 0.0; - out_618486876633759422[35] = 0.0; - out_618486876633759422[36] = 0.0; - out_618486876633759422[37] = 0.0; - out_618486876633759422[38] = 0.0; - out_618486876633759422[39] = 0.0; - out_618486876633759422[40] = 1.0; - out_618486876633759422[41] = 0.0; - out_618486876633759422[42] = 0.0; - out_618486876633759422[43] = 0.0; - out_618486876633759422[44] = 0.0; - out_618486876633759422[45] = 0.0; - out_618486876633759422[46] = 0.0; - out_618486876633759422[47] = 0.0; - out_618486876633759422[48] = 0.0; - out_618486876633759422[49] = 0.0; - out_618486876633759422[50] = 1.0; - out_618486876633759422[51] = 0.0; - out_618486876633759422[52] = 0.0; - out_618486876633759422[53] = 0.0; - out_618486876633759422[54] = 0.0; - out_618486876633759422[55] = 0.0; - out_618486876633759422[56] = 0.0; - out_618486876633759422[57] = 0.0; - out_618486876633759422[58] = 0.0; - out_618486876633759422[59] = 0.0; - out_618486876633759422[60] = 1.0; - out_618486876633759422[61] = 0.0; - out_618486876633759422[62] = 0.0; - out_618486876633759422[63] = 0.0; - out_618486876633759422[64] = 0.0; - out_618486876633759422[65] = 0.0; - out_618486876633759422[66] = 0.0; - out_618486876633759422[67] = 0.0; - out_618486876633759422[68] = 0.0; - out_618486876633759422[69] = 0.0; - out_618486876633759422[70] = 1.0; - out_618486876633759422[71] = 0.0; - out_618486876633759422[72] = 0.0; - out_618486876633759422[73] = 0.0; - out_618486876633759422[74] = 0.0; - out_618486876633759422[75] = 0.0; - out_618486876633759422[76] = 0.0; - out_618486876633759422[77] = 0.0; - out_618486876633759422[78] = 0.0; - out_618486876633759422[79] = 0.0; - out_618486876633759422[80] = 1.0; +void H_mod_fun(double *state, double *out_8807292285450126459) { + out_8807292285450126459[0] = 1.0; + out_8807292285450126459[1] = 0.0; + out_8807292285450126459[2] = 0.0; + out_8807292285450126459[3] = 0.0; + out_8807292285450126459[4] = 0.0; + out_8807292285450126459[5] = 0.0; + out_8807292285450126459[6] = 0.0; + out_8807292285450126459[7] = 0.0; + out_8807292285450126459[8] = 0.0; + out_8807292285450126459[9] = 0.0; + out_8807292285450126459[10] = 1.0; + out_8807292285450126459[11] = 0.0; + out_8807292285450126459[12] = 0.0; + out_8807292285450126459[13] = 0.0; + out_8807292285450126459[14] = 0.0; + out_8807292285450126459[15] = 0.0; + out_8807292285450126459[16] = 0.0; + out_8807292285450126459[17] = 0.0; + out_8807292285450126459[18] = 0.0; + out_8807292285450126459[19] = 0.0; + out_8807292285450126459[20] = 1.0; + out_8807292285450126459[21] = 0.0; + out_8807292285450126459[22] = 0.0; + out_8807292285450126459[23] = 0.0; + out_8807292285450126459[24] = 0.0; + out_8807292285450126459[25] = 0.0; + out_8807292285450126459[26] = 0.0; + out_8807292285450126459[27] = 0.0; + out_8807292285450126459[28] = 0.0; + out_8807292285450126459[29] = 0.0; + out_8807292285450126459[30] = 1.0; + out_8807292285450126459[31] = 0.0; + out_8807292285450126459[32] = 0.0; + out_8807292285450126459[33] = 0.0; + out_8807292285450126459[34] = 0.0; + out_8807292285450126459[35] = 0.0; + out_8807292285450126459[36] = 0.0; + out_8807292285450126459[37] = 0.0; + out_8807292285450126459[38] = 0.0; + out_8807292285450126459[39] = 0.0; + out_8807292285450126459[40] = 1.0; + out_8807292285450126459[41] = 0.0; + out_8807292285450126459[42] = 0.0; + out_8807292285450126459[43] = 0.0; + out_8807292285450126459[44] = 0.0; + out_8807292285450126459[45] = 0.0; + out_8807292285450126459[46] = 0.0; + out_8807292285450126459[47] = 0.0; + out_8807292285450126459[48] = 0.0; + out_8807292285450126459[49] = 0.0; + out_8807292285450126459[50] = 1.0; + out_8807292285450126459[51] = 0.0; + out_8807292285450126459[52] = 0.0; + out_8807292285450126459[53] = 0.0; + out_8807292285450126459[54] = 0.0; + out_8807292285450126459[55] = 0.0; + out_8807292285450126459[56] = 0.0; + out_8807292285450126459[57] = 0.0; + out_8807292285450126459[58] = 0.0; + out_8807292285450126459[59] = 0.0; + out_8807292285450126459[60] = 1.0; + out_8807292285450126459[61] = 0.0; + out_8807292285450126459[62] = 0.0; + out_8807292285450126459[63] = 0.0; + out_8807292285450126459[64] = 0.0; + out_8807292285450126459[65] = 0.0; + out_8807292285450126459[66] = 0.0; + out_8807292285450126459[67] = 0.0; + out_8807292285450126459[68] = 0.0; + out_8807292285450126459[69] = 0.0; + out_8807292285450126459[70] = 1.0; + out_8807292285450126459[71] = 0.0; + out_8807292285450126459[72] = 0.0; + out_8807292285450126459[73] = 0.0; + out_8807292285450126459[74] = 0.0; + out_8807292285450126459[75] = 0.0; + out_8807292285450126459[76] = 0.0; + out_8807292285450126459[77] = 0.0; + out_8807292285450126459[78] = 0.0; + out_8807292285450126459[79] = 0.0; + out_8807292285450126459[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8508843375909038975) { - out_8508843375909038975[0] = state[0]; - out_8508843375909038975[1] = state[1]; - out_8508843375909038975[2] = state[2]; - out_8508843375909038975[3] = state[3]; - out_8508843375909038975[4] = state[4]; - out_8508843375909038975[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_8508843375909038975[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_8508843375909038975[7] = state[7]; - out_8508843375909038975[8] = state[8]; +void f_fun(double *state, double dt, double *out_547624329025478730) { + out_547624329025478730[0] = state[0]; + out_547624329025478730[1] = state[1]; + out_547624329025478730[2] = state[2]; + out_547624329025478730[3] = state[3]; + out_547624329025478730[4] = state[4]; + out_547624329025478730[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_547624329025478730[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_547624329025478730[7] = state[7]; + out_547624329025478730[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2668986513863288583) { - out_2668986513863288583[0] = 1; - out_2668986513863288583[1] = 0; - out_2668986513863288583[2] = 0; - out_2668986513863288583[3] = 0; - out_2668986513863288583[4] = 0; - out_2668986513863288583[5] = 0; - out_2668986513863288583[6] = 0; - out_2668986513863288583[7] = 0; - out_2668986513863288583[8] = 0; - out_2668986513863288583[9] = 0; - out_2668986513863288583[10] = 1; - out_2668986513863288583[11] = 0; - out_2668986513863288583[12] = 0; - out_2668986513863288583[13] = 0; - out_2668986513863288583[14] = 0; - out_2668986513863288583[15] = 0; - out_2668986513863288583[16] = 0; - out_2668986513863288583[17] = 0; - out_2668986513863288583[18] = 0; - out_2668986513863288583[19] = 0; - out_2668986513863288583[20] = 1; - out_2668986513863288583[21] = 0; - out_2668986513863288583[22] = 0; - out_2668986513863288583[23] = 0; - out_2668986513863288583[24] = 0; - out_2668986513863288583[25] = 0; - out_2668986513863288583[26] = 0; - out_2668986513863288583[27] = 0; - out_2668986513863288583[28] = 0; - out_2668986513863288583[29] = 0; - out_2668986513863288583[30] = 1; - out_2668986513863288583[31] = 0; - out_2668986513863288583[32] = 0; - out_2668986513863288583[33] = 0; - out_2668986513863288583[34] = 0; - out_2668986513863288583[35] = 0; - out_2668986513863288583[36] = 0; - out_2668986513863288583[37] = 0; - out_2668986513863288583[38] = 0; - out_2668986513863288583[39] = 0; - out_2668986513863288583[40] = 1; - out_2668986513863288583[41] = 0; - out_2668986513863288583[42] = 0; - out_2668986513863288583[43] = 0; - out_2668986513863288583[44] = 0; - out_2668986513863288583[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_2668986513863288583[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2668986513863288583[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2668986513863288583[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2668986513863288583[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_2668986513863288583[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2668986513863288583[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2668986513863288583[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2668986513863288583[53] = -9.8100000000000005*dt; - out_2668986513863288583[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_2668986513863288583[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2668986513863288583[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2668986513863288583[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2668986513863288583[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_2668986513863288583[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2668986513863288583[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_2668986513863288583[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2668986513863288583[62] = 0; - out_2668986513863288583[63] = 0; - out_2668986513863288583[64] = 0; - out_2668986513863288583[65] = 0; - out_2668986513863288583[66] = 0; - out_2668986513863288583[67] = 0; - out_2668986513863288583[68] = 0; - out_2668986513863288583[69] = 0; - out_2668986513863288583[70] = 1; - out_2668986513863288583[71] = 0; - out_2668986513863288583[72] = 0; - out_2668986513863288583[73] = 0; - out_2668986513863288583[74] = 0; - out_2668986513863288583[75] = 0; - out_2668986513863288583[76] = 0; - out_2668986513863288583[77] = 0; - out_2668986513863288583[78] = 0; - out_2668986513863288583[79] = 0; - out_2668986513863288583[80] = 1; +void F_fun(double *state, double dt, double *out_6298604141859123794) { + out_6298604141859123794[0] = 1; + out_6298604141859123794[1] = 0; + out_6298604141859123794[2] = 0; + out_6298604141859123794[3] = 0; + out_6298604141859123794[4] = 0; + out_6298604141859123794[5] = 0; + out_6298604141859123794[6] = 0; + out_6298604141859123794[7] = 0; + out_6298604141859123794[8] = 0; + out_6298604141859123794[9] = 0; + out_6298604141859123794[10] = 1; + out_6298604141859123794[11] = 0; + out_6298604141859123794[12] = 0; + out_6298604141859123794[13] = 0; + out_6298604141859123794[14] = 0; + out_6298604141859123794[15] = 0; + out_6298604141859123794[16] = 0; + out_6298604141859123794[17] = 0; + out_6298604141859123794[18] = 0; + out_6298604141859123794[19] = 0; + out_6298604141859123794[20] = 1; + out_6298604141859123794[21] = 0; + out_6298604141859123794[22] = 0; + out_6298604141859123794[23] = 0; + out_6298604141859123794[24] = 0; + out_6298604141859123794[25] = 0; + out_6298604141859123794[26] = 0; + out_6298604141859123794[27] = 0; + out_6298604141859123794[28] = 0; + out_6298604141859123794[29] = 0; + out_6298604141859123794[30] = 1; + out_6298604141859123794[31] = 0; + out_6298604141859123794[32] = 0; + out_6298604141859123794[33] = 0; + out_6298604141859123794[34] = 0; + out_6298604141859123794[35] = 0; + out_6298604141859123794[36] = 0; + out_6298604141859123794[37] = 0; + out_6298604141859123794[38] = 0; + out_6298604141859123794[39] = 0; + out_6298604141859123794[40] = 1; + out_6298604141859123794[41] = 0; + out_6298604141859123794[42] = 0; + out_6298604141859123794[43] = 0; + out_6298604141859123794[44] = 0; + out_6298604141859123794[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_6298604141859123794[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_6298604141859123794[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6298604141859123794[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_6298604141859123794[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_6298604141859123794[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_6298604141859123794[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_6298604141859123794[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_6298604141859123794[53] = -9.8100000000000005*dt; + out_6298604141859123794[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_6298604141859123794[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_6298604141859123794[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6298604141859123794[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6298604141859123794[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_6298604141859123794[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_6298604141859123794[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_6298604141859123794[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_6298604141859123794[62] = 0; + out_6298604141859123794[63] = 0; + out_6298604141859123794[64] = 0; + out_6298604141859123794[65] = 0; + out_6298604141859123794[66] = 0; + out_6298604141859123794[67] = 0; + out_6298604141859123794[68] = 0; + out_6298604141859123794[69] = 0; + out_6298604141859123794[70] = 1; + out_6298604141859123794[71] = 0; + out_6298604141859123794[72] = 0; + out_6298604141859123794[73] = 0; + out_6298604141859123794[74] = 0; + out_6298604141859123794[75] = 0; + out_6298604141859123794[76] = 0; + out_6298604141859123794[77] = 0; + out_6298604141859123794[78] = 0; + out_6298604141859123794[79] = 0; + out_6298604141859123794[80] = 1; } -void h_25(double *state, double *unused, double *out_4860957648027245326) { - out_4860957648027245326[0] = state[6]; +void h_25(double *state, double *unused, double *out_5598542368802412337) { + out_5598542368802412337[0] = state[6]; } -void H_25(double *state, double *unused, double *out_6932876854201394115) { - out_6932876854201394115[0] = 0; - out_6932876854201394115[1] = 0; - out_6932876854201394115[2] = 0; - out_6932876854201394115[3] = 0; - out_6932876854201394115[4] = 0; - out_6932876854201394115[5] = 0; - out_6932876854201394115[6] = 1; - out_6932876854201394115[7] = 0; - out_6932876854201394115[8] = 0; +void H_25(double *state, double *unused, double *out_446263562347187920) { + out_446263562347187920[0] = 0; + out_446263562347187920[1] = 0; + out_446263562347187920[2] = 0; + out_446263562347187920[3] = 0; + out_446263562347187920[4] = 0; + out_446263562347187920[5] = 0; + out_446263562347187920[6] = 1; + out_446263562347187920[7] = 0; + out_446263562347187920[8] = 0; } -void h_24(double *state, double *unused, double *out_8219518906691440912) { - out_8219518906691440912[0] = state[4]; - out_8219518906691440912[1] = state[5]; +void h_24(double *state, double *unused, double *out_281619709901739940) { + out_281619709901739940[0] = state[4]; + out_281619709901739940[1] = state[5]; } -void H_24(double *state, double *unused, double *out_6462419372158055391) { - out_6462419372158055391[0] = 0; - out_6462419372158055391[1] = 0; - out_6462419372158055391[2] = 0; - out_6462419372158055391[3] = 0; - out_6462419372158055391[4] = 1; - out_6462419372158055391[5] = 0; - out_6462419372158055391[6] = 0; - out_6462419372158055391[7] = 0; - out_6462419372158055391[8] = 0; - out_6462419372158055391[9] = 0; - out_6462419372158055391[10] = 0; - out_6462419372158055391[11] = 0; - out_6462419372158055391[12] = 0; - out_6462419372158055391[13] = 0; - out_6462419372158055391[14] = 1; - out_6462419372158055391[15] = 0; - out_6462419372158055391[16] = 0; - out_6462419372158055391[17] = 0; +void H_24(double *state, double *unused, double *out_4300245764619321114) { + out_4300245764619321114[0] = 0; + out_4300245764619321114[1] = 0; + out_4300245764619321114[2] = 0; + out_4300245764619321114[3] = 0; + out_4300245764619321114[4] = 1; + out_4300245764619321114[5] = 0; + out_4300245764619321114[6] = 0; + out_4300245764619321114[7] = 0; + out_4300245764619321114[8] = 0; + out_4300245764619321114[9] = 0; + out_4300245764619321114[10] = 0; + out_4300245764619321114[11] = 0; + out_4300245764619321114[12] = 0; + out_4300245764619321114[13] = 0; + out_4300245764619321114[14] = 1; + out_4300245764619321114[15] = 0; + out_4300245764619321114[16] = 0; + out_4300245764619321114[17] = 0; } -void h_30(double *state, double *unused, double *out_1502636330274570535) { - out_1502636330274570535[0] = state[4]; +void h_30(double *state, double *unused, double *out_6077366478556788343) { + out_6077366478556788343[0] = state[4]; } -void H_30(double *state, double *unused, double *out_6803537907058154045) { - out_6803537907058154045[0] = 0; - out_6803537907058154045[1] = 0; - out_6803537907058154045[2] = 0; - out_6803537907058154045[3] = 0; - out_6803537907058154045[4] = 1; - out_6803537907058154045[5] = 0; - out_6803537907058154045[6] = 0; - out_6803537907058154045[7] = 0; - out_6803537907058154045[8] = 0; +void H_30(double *state, double *unused, double *out_7362953903838804675) { + out_7362953903838804675[0] = 0; + out_7362953903838804675[1] = 0; + out_7362953903838804675[2] = 0; + out_7362953903838804675[3] = 0; + out_7362953903838804675[4] = 1; + out_7362953903838804675[5] = 0; + out_7362953903838804675[6] = 0; + out_7362953903838804675[7] = 0; + out_7362953903838804675[8] = 0; } -void h_26(double *state, double *unused, double *out_899320445598093018) { - out_899320445598093018[0] = state[7]; +void h_26(double *state, double *unused, double *out_714876495074943436) { + out_714876495074943436[0] = state[7]; } -void H_26(double *state, double *unused, double *out_3191373535327337891) { - out_3191373535327337891[0] = 0; - out_3191373535327337891[1] = 0; - out_3191373535327337891[2] = 0; - out_3191373535327337891[3] = 0; - out_3191373535327337891[4] = 0; - out_3191373535327337891[5] = 0; - out_3191373535327337891[6] = 0; - out_3191373535327337891[7] = 1; - out_3191373535327337891[8] = 0; +void H_26(double *state, double *unused, double *out_3295239756526868304) { + out_3295239756526868304[0] = 0; + out_3295239756526868304[1] = 0; + out_3295239756526868304[2] = 0; + out_3295239756526868304[3] = 0; + out_3295239756526868304[4] = 0; + out_3295239756526868304[5] = 0; + out_3295239756526868304[6] = 0; + out_3295239756526868304[7] = 1; + out_3295239756526868304[8] = 0; } -void h_27(double *state, double *unused, double *out_6028701449103387063) { - out_6028701449103387063[0] = state[3]; +void h_27(double *state, double *unused, double *out_3197767095463584803) { + out_3197767095463584803[0] = state[3]; } -void H_27(double *state, double *unused, double *out_4628774595257729134) { - out_4628774595257729134[0] = 0; - out_4628774595257729134[1] = 0; - out_4628774595257729134[2] = 0; - out_4628774595257729134[3] = 1; - out_4628774595257729134[4] = 0; - out_4628774595257729134[5] = 0; - out_4628774595257729134[6] = 0; - out_4628774595257729134[7] = 0; - out_4628774595257729134[8] = 0; +void H_27(double *state, double *unused, double *out_5188190592038379764) { + out_5188190592038379764[0] = 0; + out_5188190592038379764[1] = 0; + out_5188190592038379764[2] = 0; + out_5188190592038379764[3] = 1; + out_5188190592038379764[4] = 0; + out_5188190592038379764[5] = 0; + out_5188190592038379764[6] = 0; + out_5188190592038379764[7] = 0; + out_5188190592038379764[8] = 0; } -void h_29(double *state, double *unused, double *out_1056966285338217398) { - out_1056966285338217398[0] = state[1]; +void h_29(double *state, double *unused, double *out_9093529782405306684) { + out_9093529782405306684[0] = state[1]; } -void H_29(double *state, double *unused, double *out_7313769251372546229) { - out_7313769251372546229[0] = 0; - out_7313769251372546229[1] = 1; - out_7313769251372546229[2] = 0; - out_7313769251372546229[3] = 0; - out_7313769251372546229[4] = 0; - out_7313769251372546229[5] = 0; - out_7313769251372546229[6] = 0; - out_7313769251372546229[7] = 0; - out_7313769251372546229[8] = 0; +void H_29(double *state, double *unused, double *out_7873185248153196859) { + out_7873185248153196859[0] = 0; + out_7873185248153196859[1] = 1; + out_7873185248153196859[2] = 0; + out_7873185248153196859[3] = 0; + out_7873185248153196859[4] = 0; + out_7873185248153196859[5] = 0; + out_7873185248153196859[6] = 0; + out_7873185248153196859[7] = 0; + out_7873185248153196859[8] = 0; } -void h_28(double *state, double *unused, double *out_1027028181442541418) { - out_1027028181442541418[0] = state[0]; +void h_28(double *state, double *unused, double *out_8199440363124430448) { + out_8199440363124430448[0] = state[0]; } -void H_28(double *state, double *unused, double *out_2166987148681352473) { - out_2166987148681352473[0] = 1; - out_2166987148681352473[1] = 0; - out_2166987148681352473[2] = 0; - out_2166987148681352473[3] = 0; - out_2166987148681352473[4] = 0; - out_2166987148681352473[5] = 0; - out_2166987148681352473[6] = 0; - out_2166987148681352473[7] = 0; - out_2166987148681352473[8] = 0; +void H_28(double *state, double *unused, double *out_2790786231083666285) { + out_2790786231083666285[0] = 1; + out_2790786231083666285[1] = 0; + out_2790786231083666285[2] = 0; + out_2790786231083666285[3] = 0; + out_2790786231083666285[4] = 0; + out_2790786231083666285[5] = 0; + out_2790786231083666285[6] = 0; + out_2790786231083666285[7] = 0; + out_2790786231083666285[8] = 0; } -void h_31(double *state, double *unused, double *out_4928004927850595483) { - out_4928004927850595483[0] = state[8]; +void h_31(double *state, double *unused, double *out_5441355700451283192) { + out_5441355700451283192[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6963522816078354543) { - out_6963522816078354543[0] = 0; - out_6963522816078354543[1] = 0; - out_6963522816078354543[2] = 0; - out_6963522816078354543[3] = 0; - out_6963522816078354543[4] = 0; - out_6963522816078354543[5] = 0; - out_6963522816078354543[6] = 0; - out_6963522816078354543[7] = 0; - out_6963522816078354543[8] = 1; +void H_31(double *state, double *unused, double *out_476909524224148348) { + out_476909524224148348[0] = 0; + out_476909524224148348[1] = 0; + out_476909524224148348[2] = 0; + out_476909524224148348[3] = 0; + out_476909524224148348[4] = 0; + out_476909524224148348[5] = 0; + out_476909524224148348[6] = 0; + out_476909524224148348[7] = 0; + out_476909524224148348[8] = 1; } #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_8449647197806450456) { - err_fun(nom_x, delta_x, out_8449647197806450456); +void car_err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104) { + err_fun(nom_x, delta_x, out_2798728055434719104); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790) { - inv_err_fun(nom_x, true_x, out_5810954439872327790); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641) { + inv_err_fun(nom_x, true_x, out_5158994837086933641); } -void car_H_mod_fun(double *state, double *out_618486876633759422) { - H_mod_fun(state, out_618486876633759422); +void car_H_mod_fun(double *state, double *out_8807292285450126459) { + H_mod_fun(state, out_8807292285450126459); } -void car_f_fun(double *state, double dt, double *out_8508843375909038975) { - f_fun(state, dt, out_8508843375909038975); +void car_f_fun(double *state, double dt, double *out_547624329025478730) { + f_fun(state, dt, out_547624329025478730); } -void car_F_fun(double *state, double dt, double *out_2668986513863288583) { - F_fun(state, dt, out_2668986513863288583); +void car_F_fun(double *state, double dt, double *out_6298604141859123794) { + F_fun(state, dt, out_6298604141859123794); } -void car_h_25(double *state, double *unused, double *out_4860957648027245326) { - h_25(state, unused, out_4860957648027245326); +void car_h_25(double *state, double *unused, double *out_5598542368802412337) { + h_25(state, unused, out_5598542368802412337); } -void car_H_25(double *state, double *unused, double *out_6932876854201394115) { - H_25(state, unused, out_6932876854201394115); +void car_H_25(double *state, double *unused, double *out_446263562347187920) { + H_25(state, unused, out_446263562347187920); } -void car_h_24(double *state, double *unused, double *out_8219518906691440912) { - h_24(state, unused, out_8219518906691440912); +void car_h_24(double *state, double *unused, double *out_281619709901739940) { + h_24(state, unused, out_281619709901739940); } -void car_H_24(double *state, double *unused, double *out_6462419372158055391) { - H_24(state, unused, out_6462419372158055391); +void car_H_24(double *state, double *unused, double *out_4300245764619321114) { + H_24(state, unused, out_4300245764619321114); } -void car_h_30(double *state, double *unused, double *out_1502636330274570535) { - h_30(state, unused, out_1502636330274570535); +void car_h_30(double *state, double *unused, double *out_6077366478556788343) { + h_30(state, unused, out_6077366478556788343); } -void car_H_30(double *state, double *unused, double *out_6803537907058154045) { - H_30(state, unused, out_6803537907058154045); +void car_H_30(double *state, double *unused, double *out_7362953903838804675) { + H_30(state, unused, out_7362953903838804675); } -void car_h_26(double *state, double *unused, double *out_899320445598093018) { - h_26(state, unused, out_899320445598093018); +void car_h_26(double *state, double *unused, double *out_714876495074943436) { + h_26(state, unused, out_714876495074943436); } -void car_H_26(double *state, double *unused, double *out_3191373535327337891) { - H_26(state, unused, out_3191373535327337891); +void car_H_26(double *state, double *unused, double *out_3295239756526868304) { + H_26(state, unused, out_3295239756526868304); } -void car_h_27(double *state, double *unused, double *out_6028701449103387063) { - h_27(state, unused, out_6028701449103387063); +void car_h_27(double *state, double *unused, double *out_3197767095463584803) { + h_27(state, unused, out_3197767095463584803); } -void car_H_27(double *state, double *unused, double *out_4628774595257729134) { - H_27(state, unused, out_4628774595257729134); +void car_H_27(double *state, double *unused, double *out_5188190592038379764) { + H_27(state, unused, out_5188190592038379764); } -void car_h_29(double *state, double *unused, double *out_1056966285338217398) { - h_29(state, unused, out_1056966285338217398); +void car_h_29(double *state, double *unused, double *out_9093529782405306684) { + h_29(state, unused, out_9093529782405306684); } -void car_H_29(double *state, double *unused, double *out_7313769251372546229) { - H_29(state, unused, out_7313769251372546229); +void car_H_29(double *state, double *unused, double *out_7873185248153196859) { + H_29(state, unused, out_7873185248153196859); } -void car_h_28(double *state, double *unused, double *out_1027028181442541418) { - h_28(state, unused, out_1027028181442541418); +void car_h_28(double *state, double *unused, double *out_8199440363124430448) { + h_28(state, unused, out_8199440363124430448); } -void car_H_28(double *state, double *unused, double *out_2166987148681352473) { - H_28(state, unused, out_2166987148681352473); +void car_H_28(double *state, double *unused, double *out_2790786231083666285) { + H_28(state, unused, out_2790786231083666285); } -void car_h_31(double *state, double *unused, double *out_4928004927850595483) { - h_31(state, unused, out_4928004927850595483); +void car_h_31(double *state, double *unused, double *out_5441355700451283192) { + h_31(state, unused, out_5441355700451283192); } -void car_H_31(double *state, double *unused, double *out_6963522816078354543) { - H_31(state, unused, out_6963522816078354543); +void car_H_31(double *state, double *unused, double *out_476909524224148348) { + H_31(state, unused, out_476909524224148348); } 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 f0b4a0e24..f8b895142 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_8449647197806450456); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_5810954439872327790); -void car_H_mod_fun(double *state, double *out_618486876633759422); -void car_f_fun(double *state, double dt, double *out_8508843375909038975); -void car_F_fun(double *state, double dt, double *out_2668986513863288583); -void car_h_25(double *state, double *unused, double *out_4860957648027245326); -void car_H_25(double *state, double *unused, double *out_6932876854201394115); -void car_h_24(double *state, double *unused, double *out_8219518906691440912); -void car_H_24(double *state, double *unused, double *out_6462419372158055391); -void car_h_30(double *state, double *unused, double *out_1502636330274570535); -void car_H_30(double *state, double *unused, double *out_6803537907058154045); -void car_h_26(double *state, double *unused, double *out_899320445598093018); -void car_H_26(double *state, double *unused, double *out_3191373535327337891); -void car_h_27(double *state, double *unused, double *out_6028701449103387063); -void car_H_27(double *state, double *unused, double *out_4628774595257729134); -void car_h_29(double *state, double *unused, double *out_1056966285338217398); -void car_H_29(double *state, double *unused, double *out_7313769251372546229); -void car_h_28(double *state, double *unused, double *out_1027028181442541418); -void car_H_28(double *state, double *unused, double *out_2166987148681352473); -void car_h_31(double *state, double *unused, double *out_4928004927850595483); -void car_H_31(double *state, double *unused, double *out_6963522816078354543); +void car_err_fun(double *nom_x, double *delta_x, double *out_2798728055434719104); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5158994837086933641); +void car_H_mod_fun(double *state, double *out_8807292285450126459); +void car_f_fun(double *state, double dt, double *out_547624329025478730); +void car_F_fun(double *state, double dt, double *out_6298604141859123794); +void car_h_25(double *state, double *unused, double *out_5598542368802412337); +void car_H_25(double *state, double *unused, double *out_446263562347187920); +void car_h_24(double *state, double *unused, double *out_281619709901739940); +void car_H_24(double *state, double *unused, double *out_4300245764619321114); +void car_h_30(double *state, double *unused, double *out_6077366478556788343); +void car_H_30(double *state, double *unused, double *out_7362953903838804675); +void car_h_26(double *state, double *unused, double *out_714876495074943436); +void car_H_26(double *state, double *unused, double *out_3295239756526868304); +void car_h_27(double *state, double *unused, double *out_3197767095463584803); +void car_H_27(double *state, double *unused, double *out_5188190592038379764); +void car_h_29(double *state, double *unused, double *out_9093529782405306684); +void car_H_29(double *state, double *unused, double *out_7873185248153196859); +void car_h_28(double *state, double *unused, double *out_8199440363124430448); +void car_H_28(double *state, double *unused, double *out_2790786231083666285); +void car_h_31(double *state, double *unused, double *out_5441355700451283192); +void car_H_31(double *state, double *unused, double *out_476909524224148348); void car_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 428d845ff..4f563d943 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_5522943408677507622) { - out_5522943408677507622[0] = delta_x[0] + nom_x[0]; - out_5522943408677507622[1] = delta_x[1] + nom_x[1]; - out_5522943408677507622[2] = delta_x[2] + nom_x[2]; - out_5522943408677507622[3] = delta_x[3] + nom_x[3]; - out_5522943408677507622[4] = delta_x[4] + nom_x[4]; - out_5522943408677507622[5] = delta_x[5] + nom_x[5]; - out_5522943408677507622[6] = delta_x[6] + nom_x[6]; - out_5522943408677507622[7] = delta_x[7] + nom_x[7]; - out_5522943408677507622[8] = delta_x[8] + nom_x[8]; - out_5522943408677507622[9] = delta_x[9] + nom_x[9]; - out_5522943408677507622[10] = delta_x[10] + nom_x[10]; - out_5522943408677507622[11] = delta_x[11] + nom_x[11]; - out_5522943408677507622[12] = delta_x[12] + nom_x[12]; - out_5522943408677507622[13] = delta_x[13] + nom_x[13]; - out_5522943408677507622[14] = delta_x[14] + nom_x[14]; - out_5522943408677507622[15] = delta_x[15] + nom_x[15]; - out_5522943408677507622[16] = delta_x[16] + nom_x[16]; - out_5522943408677507622[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818) { + out_8123935570106658818[0] = delta_x[0] + nom_x[0]; + out_8123935570106658818[1] = delta_x[1] + nom_x[1]; + out_8123935570106658818[2] = delta_x[2] + nom_x[2]; + out_8123935570106658818[3] = delta_x[3] + nom_x[3]; + out_8123935570106658818[4] = delta_x[4] + nom_x[4]; + out_8123935570106658818[5] = delta_x[5] + nom_x[5]; + out_8123935570106658818[6] = delta_x[6] + nom_x[6]; + out_8123935570106658818[7] = delta_x[7] + nom_x[7]; + out_8123935570106658818[8] = delta_x[8] + nom_x[8]; + out_8123935570106658818[9] = delta_x[9] + nom_x[9]; + out_8123935570106658818[10] = delta_x[10] + nom_x[10]; + out_8123935570106658818[11] = delta_x[11] + nom_x[11]; + out_8123935570106658818[12] = delta_x[12] + nom_x[12]; + out_8123935570106658818[13] = delta_x[13] + nom_x[13]; + out_8123935570106658818[14] = delta_x[14] + nom_x[14]; + out_8123935570106658818[15] = delta_x[15] + nom_x[15]; + out_8123935570106658818[16] = delta_x[16] + nom_x[16]; + out_8123935570106658818[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_4295983432349839383) { - out_4295983432349839383[0] = -nom_x[0] + true_x[0]; - out_4295983432349839383[1] = -nom_x[1] + true_x[1]; - out_4295983432349839383[2] = -nom_x[2] + true_x[2]; - out_4295983432349839383[3] = -nom_x[3] + true_x[3]; - out_4295983432349839383[4] = -nom_x[4] + true_x[4]; - out_4295983432349839383[5] = -nom_x[5] + true_x[5]; - out_4295983432349839383[6] = -nom_x[6] + true_x[6]; - out_4295983432349839383[7] = -nom_x[7] + true_x[7]; - out_4295983432349839383[8] = -nom_x[8] + true_x[8]; - out_4295983432349839383[9] = -nom_x[9] + true_x[9]; - out_4295983432349839383[10] = -nom_x[10] + true_x[10]; - out_4295983432349839383[11] = -nom_x[11] + true_x[11]; - out_4295983432349839383[12] = -nom_x[12] + true_x[12]; - out_4295983432349839383[13] = -nom_x[13] + true_x[13]; - out_4295983432349839383[14] = -nom_x[14] + true_x[14]; - out_4295983432349839383[15] = -nom_x[15] + true_x[15]; - out_4295983432349839383[16] = -nom_x[16] + true_x[16]; - out_4295983432349839383[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { + out_7916605304970807670[0] = -nom_x[0] + true_x[0]; + out_7916605304970807670[1] = -nom_x[1] + true_x[1]; + out_7916605304970807670[2] = -nom_x[2] + true_x[2]; + out_7916605304970807670[3] = -nom_x[3] + true_x[3]; + out_7916605304970807670[4] = -nom_x[4] + true_x[4]; + out_7916605304970807670[5] = -nom_x[5] + true_x[5]; + out_7916605304970807670[6] = -nom_x[6] + true_x[6]; + out_7916605304970807670[7] = -nom_x[7] + true_x[7]; + out_7916605304970807670[8] = -nom_x[8] + true_x[8]; + out_7916605304970807670[9] = -nom_x[9] + true_x[9]; + out_7916605304970807670[10] = -nom_x[10] + true_x[10]; + out_7916605304970807670[11] = -nom_x[11] + true_x[11]; + out_7916605304970807670[12] = -nom_x[12] + true_x[12]; + out_7916605304970807670[13] = -nom_x[13] + true_x[13]; + out_7916605304970807670[14] = -nom_x[14] + true_x[14]; + out_7916605304970807670[15] = -nom_x[15] + true_x[15]; + out_7916605304970807670[16] = -nom_x[16] + true_x[16]; + out_7916605304970807670[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4346696932482416909) { - out_4346696932482416909[0] = 1.0; - out_4346696932482416909[1] = 0.0; - out_4346696932482416909[2] = 0.0; - out_4346696932482416909[3] = 0.0; - out_4346696932482416909[4] = 0.0; - out_4346696932482416909[5] = 0.0; - out_4346696932482416909[6] = 0.0; - out_4346696932482416909[7] = 0.0; - out_4346696932482416909[8] = 0.0; - out_4346696932482416909[9] = 0.0; - out_4346696932482416909[10] = 0.0; - out_4346696932482416909[11] = 0.0; - out_4346696932482416909[12] = 0.0; - out_4346696932482416909[13] = 0.0; - out_4346696932482416909[14] = 0.0; - out_4346696932482416909[15] = 0.0; - out_4346696932482416909[16] = 0.0; - out_4346696932482416909[17] = 0.0; - out_4346696932482416909[18] = 0.0; - out_4346696932482416909[19] = 1.0; - out_4346696932482416909[20] = 0.0; - out_4346696932482416909[21] = 0.0; - out_4346696932482416909[22] = 0.0; - out_4346696932482416909[23] = 0.0; - out_4346696932482416909[24] = 0.0; - out_4346696932482416909[25] = 0.0; - out_4346696932482416909[26] = 0.0; - out_4346696932482416909[27] = 0.0; - out_4346696932482416909[28] = 0.0; - out_4346696932482416909[29] = 0.0; - out_4346696932482416909[30] = 0.0; - out_4346696932482416909[31] = 0.0; - out_4346696932482416909[32] = 0.0; - out_4346696932482416909[33] = 0.0; - out_4346696932482416909[34] = 0.0; - out_4346696932482416909[35] = 0.0; - out_4346696932482416909[36] = 0.0; - out_4346696932482416909[37] = 0.0; - out_4346696932482416909[38] = 1.0; - out_4346696932482416909[39] = 0.0; - out_4346696932482416909[40] = 0.0; - out_4346696932482416909[41] = 0.0; - out_4346696932482416909[42] = 0.0; - out_4346696932482416909[43] = 0.0; - out_4346696932482416909[44] = 0.0; - out_4346696932482416909[45] = 0.0; - out_4346696932482416909[46] = 0.0; - out_4346696932482416909[47] = 0.0; - out_4346696932482416909[48] = 0.0; - out_4346696932482416909[49] = 0.0; - out_4346696932482416909[50] = 0.0; - out_4346696932482416909[51] = 0.0; - out_4346696932482416909[52] = 0.0; - out_4346696932482416909[53] = 0.0; - out_4346696932482416909[54] = 0.0; - out_4346696932482416909[55] = 0.0; - out_4346696932482416909[56] = 0.0; - out_4346696932482416909[57] = 1.0; - out_4346696932482416909[58] = 0.0; - out_4346696932482416909[59] = 0.0; - out_4346696932482416909[60] = 0.0; - out_4346696932482416909[61] = 0.0; - out_4346696932482416909[62] = 0.0; - out_4346696932482416909[63] = 0.0; - out_4346696932482416909[64] = 0.0; - out_4346696932482416909[65] = 0.0; - out_4346696932482416909[66] = 0.0; - out_4346696932482416909[67] = 0.0; - out_4346696932482416909[68] = 0.0; - out_4346696932482416909[69] = 0.0; - out_4346696932482416909[70] = 0.0; - out_4346696932482416909[71] = 0.0; - out_4346696932482416909[72] = 0.0; - out_4346696932482416909[73] = 0.0; - out_4346696932482416909[74] = 0.0; - out_4346696932482416909[75] = 0.0; - out_4346696932482416909[76] = 1.0; - out_4346696932482416909[77] = 0.0; - out_4346696932482416909[78] = 0.0; - out_4346696932482416909[79] = 0.0; - out_4346696932482416909[80] = 0.0; - out_4346696932482416909[81] = 0.0; - out_4346696932482416909[82] = 0.0; - out_4346696932482416909[83] = 0.0; - out_4346696932482416909[84] = 0.0; - out_4346696932482416909[85] = 0.0; - out_4346696932482416909[86] = 0.0; - out_4346696932482416909[87] = 0.0; - out_4346696932482416909[88] = 0.0; - out_4346696932482416909[89] = 0.0; - out_4346696932482416909[90] = 0.0; - out_4346696932482416909[91] = 0.0; - out_4346696932482416909[92] = 0.0; - out_4346696932482416909[93] = 0.0; - out_4346696932482416909[94] = 0.0; - out_4346696932482416909[95] = 1.0; - out_4346696932482416909[96] = 0.0; - out_4346696932482416909[97] = 0.0; - out_4346696932482416909[98] = 0.0; - out_4346696932482416909[99] = 0.0; - out_4346696932482416909[100] = 0.0; - out_4346696932482416909[101] = 0.0; - out_4346696932482416909[102] = 0.0; - out_4346696932482416909[103] = 0.0; - out_4346696932482416909[104] = 0.0; - out_4346696932482416909[105] = 0.0; - out_4346696932482416909[106] = 0.0; - out_4346696932482416909[107] = 0.0; - out_4346696932482416909[108] = 0.0; - out_4346696932482416909[109] = 0.0; - out_4346696932482416909[110] = 0.0; - out_4346696932482416909[111] = 0.0; - out_4346696932482416909[112] = 0.0; - out_4346696932482416909[113] = 0.0; - out_4346696932482416909[114] = 1.0; - out_4346696932482416909[115] = 0.0; - out_4346696932482416909[116] = 0.0; - out_4346696932482416909[117] = 0.0; - out_4346696932482416909[118] = 0.0; - out_4346696932482416909[119] = 0.0; - out_4346696932482416909[120] = 0.0; - out_4346696932482416909[121] = 0.0; - out_4346696932482416909[122] = 0.0; - out_4346696932482416909[123] = 0.0; - out_4346696932482416909[124] = 0.0; - out_4346696932482416909[125] = 0.0; - out_4346696932482416909[126] = 0.0; - out_4346696932482416909[127] = 0.0; - out_4346696932482416909[128] = 0.0; - out_4346696932482416909[129] = 0.0; - out_4346696932482416909[130] = 0.0; - out_4346696932482416909[131] = 0.0; - out_4346696932482416909[132] = 0.0; - out_4346696932482416909[133] = 1.0; - out_4346696932482416909[134] = 0.0; - out_4346696932482416909[135] = 0.0; - out_4346696932482416909[136] = 0.0; - out_4346696932482416909[137] = 0.0; - out_4346696932482416909[138] = 0.0; - out_4346696932482416909[139] = 0.0; - out_4346696932482416909[140] = 0.0; - out_4346696932482416909[141] = 0.0; - out_4346696932482416909[142] = 0.0; - out_4346696932482416909[143] = 0.0; - out_4346696932482416909[144] = 0.0; - out_4346696932482416909[145] = 0.0; - out_4346696932482416909[146] = 0.0; - out_4346696932482416909[147] = 0.0; - out_4346696932482416909[148] = 0.0; - out_4346696932482416909[149] = 0.0; - out_4346696932482416909[150] = 0.0; - out_4346696932482416909[151] = 0.0; - out_4346696932482416909[152] = 1.0; - out_4346696932482416909[153] = 0.0; - out_4346696932482416909[154] = 0.0; - out_4346696932482416909[155] = 0.0; - out_4346696932482416909[156] = 0.0; - out_4346696932482416909[157] = 0.0; - out_4346696932482416909[158] = 0.0; - out_4346696932482416909[159] = 0.0; - out_4346696932482416909[160] = 0.0; - out_4346696932482416909[161] = 0.0; - out_4346696932482416909[162] = 0.0; - out_4346696932482416909[163] = 0.0; - out_4346696932482416909[164] = 0.0; - out_4346696932482416909[165] = 0.0; - out_4346696932482416909[166] = 0.0; - out_4346696932482416909[167] = 0.0; - out_4346696932482416909[168] = 0.0; - out_4346696932482416909[169] = 0.0; - out_4346696932482416909[170] = 0.0; - out_4346696932482416909[171] = 1.0; - out_4346696932482416909[172] = 0.0; - out_4346696932482416909[173] = 0.0; - out_4346696932482416909[174] = 0.0; - out_4346696932482416909[175] = 0.0; - out_4346696932482416909[176] = 0.0; - out_4346696932482416909[177] = 0.0; - out_4346696932482416909[178] = 0.0; - out_4346696932482416909[179] = 0.0; - out_4346696932482416909[180] = 0.0; - out_4346696932482416909[181] = 0.0; - out_4346696932482416909[182] = 0.0; - out_4346696932482416909[183] = 0.0; - out_4346696932482416909[184] = 0.0; - out_4346696932482416909[185] = 0.0; - out_4346696932482416909[186] = 0.0; - out_4346696932482416909[187] = 0.0; - out_4346696932482416909[188] = 0.0; - out_4346696932482416909[189] = 0.0; - out_4346696932482416909[190] = 1.0; - out_4346696932482416909[191] = 0.0; - out_4346696932482416909[192] = 0.0; - out_4346696932482416909[193] = 0.0; - out_4346696932482416909[194] = 0.0; - out_4346696932482416909[195] = 0.0; - out_4346696932482416909[196] = 0.0; - out_4346696932482416909[197] = 0.0; - out_4346696932482416909[198] = 0.0; - out_4346696932482416909[199] = 0.0; - out_4346696932482416909[200] = 0.0; - out_4346696932482416909[201] = 0.0; - out_4346696932482416909[202] = 0.0; - out_4346696932482416909[203] = 0.0; - out_4346696932482416909[204] = 0.0; - out_4346696932482416909[205] = 0.0; - out_4346696932482416909[206] = 0.0; - out_4346696932482416909[207] = 0.0; - out_4346696932482416909[208] = 0.0; - out_4346696932482416909[209] = 1.0; - out_4346696932482416909[210] = 0.0; - out_4346696932482416909[211] = 0.0; - out_4346696932482416909[212] = 0.0; - out_4346696932482416909[213] = 0.0; - out_4346696932482416909[214] = 0.0; - out_4346696932482416909[215] = 0.0; - out_4346696932482416909[216] = 0.0; - out_4346696932482416909[217] = 0.0; - out_4346696932482416909[218] = 0.0; - out_4346696932482416909[219] = 0.0; - out_4346696932482416909[220] = 0.0; - out_4346696932482416909[221] = 0.0; - out_4346696932482416909[222] = 0.0; - out_4346696932482416909[223] = 0.0; - out_4346696932482416909[224] = 0.0; - out_4346696932482416909[225] = 0.0; - out_4346696932482416909[226] = 0.0; - out_4346696932482416909[227] = 0.0; - out_4346696932482416909[228] = 1.0; - out_4346696932482416909[229] = 0.0; - out_4346696932482416909[230] = 0.0; - out_4346696932482416909[231] = 0.0; - out_4346696932482416909[232] = 0.0; - out_4346696932482416909[233] = 0.0; - out_4346696932482416909[234] = 0.0; - out_4346696932482416909[235] = 0.0; - out_4346696932482416909[236] = 0.0; - out_4346696932482416909[237] = 0.0; - out_4346696932482416909[238] = 0.0; - out_4346696932482416909[239] = 0.0; - out_4346696932482416909[240] = 0.0; - out_4346696932482416909[241] = 0.0; - out_4346696932482416909[242] = 0.0; - out_4346696932482416909[243] = 0.0; - out_4346696932482416909[244] = 0.0; - out_4346696932482416909[245] = 0.0; - out_4346696932482416909[246] = 0.0; - out_4346696932482416909[247] = 1.0; - out_4346696932482416909[248] = 0.0; - out_4346696932482416909[249] = 0.0; - out_4346696932482416909[250] = 0.0; - out_4346696932482416909[251] = 0.0; - out_4346696932482416909[252] = 0.0; - out_4346696932482416909[253] = 0.0; - out_4346696932482416909[254] = 0.0; - out_4346696932482416909[255] = 0.0; - out_4346696932482416909[256] = 0.0; - out_4346696932482416909[257] = 0.0; - out_4346696932482416909[258] = 0.0; - out_4346696932482416909[259] = 0.0; - out_4346696932482416909[260] = 0.0; - out_4346696932482416909[261] = 0.0; - out_4346696932482416909[262] = 0.0; - out_4346696932482416909[263] = 0.0; - out_4346696932482416909[264] = 0.0; - out_4346696932482416909[265] = 0.0; - out_4346696932482416909[266] = 1.0; - out_4346696932482416909[267] = 0.0; - out_4346696932482416909[268] = 0.0; - out_4346696932482416909[269] = 0.0; - out_4346696932482416909[270] = 0.0; - out_4346696932482416909[271] = 0.0; - out_4346696932482416909[272] = 0.0; - out_4346696932482416909[273] = 0.0; - out_4346696932482416909[274] = 0.0; - out_4346696932482416909[275] = 0.0; - out_4346696932482416909[276] = 0.0; - out_4346696932482416909[277] = 0.0; - out_4346696932482416909[278] = 0.0; - out_4346696932482416909[279] = 0.0; - out_4346696932482416909[280] = 0.0; - out_4346696932482416909[281] = 0.0; - out_4346696932482416909[282] = 0.0; - out_4346696932482416909[283] = 0.0; - out_4346696932482416909[284] = 0.0; - out_4346696932482416909[285] = 1.0; - out_4346696932482416909[286] = 0.0; - out_4346696932482416909[287] = 0.0; - out_4346696932482416909[288] = 0.0; - out_4346696932482416909[289] = 0.0; - out_4346696932482416909[290] = 0.0; - out_4346696932482416909[291] = 0.0; - out_4346696932482416909[292] = 0.0; - out_4346696932482416909[293] = 0.0; - out_4346696932482416909[294] = 0.0; - out_4346696932482416909[295] = 0.0; - out_4346696932482416909[296] = 0.0; - out_4346696932482416909[297] = 0.0; - out_4346696932482416909[298] = 0.0; - out_4346696932482416909[299] = 0.0; - out_4346696932482416909[300] = 0.0; - out_4346696932482416909[301] = 0.0; - out_4346696932482416909[302] = 0.0; - out_4346696932482416909[303] = 0.0; - out_4346696932482416909[304] = 1.0; - out_4346696932482416909[305] = 0.0; - out_4346696932482416909[306] = 0.0; - out_4346696932482416909[307] = 0.0; - out_4346696932482416909[308] = 0.0; - out_4346696932482416909[309] = 0.0; - out_4346696932482416909[310] = 0.0; - out_4346696932482416909[311] = 0.0; - out_4346696932482416909[312] = 0.0; - out_4346696932482416909[313] = 0.0; - out_4346696932482416909[314] = 0.0; - out_4346696932482416909[315] = 0.0; - out_4346696932482416909[316] = 0.0; - out_4346696932482416909[317] = 0.0; - out_4346696932482416909[318] = 0.0; - out_4346696932482416909[319] = 0.0; - out_4346696932482416909[320] = 0.0; - out_4346696932482416909[321] = 0.0; - out_4346696932482416909[322] = 0.0; - out_4346696932482416909[323] = 1.0; +void H_mod_fun(double *state, double *out_1602815725505969341) { + out_1602815725505969341[0] = 1.0; + out_1602815725505969341[1] = 0.0; + out_1602815725505969341[2] = 0.0; + out_1602815725505969341[3] = 0.0; + out_1602815725505969341[4] = 0.0; + out_1602815725505969341[5] = 0.0; + out_1602815725505969341[6] = 0.0; + out_1602815725505969341[7] = 0.0; + out_1602815725505969341[8] = 0.0; + out_1602815725505969341[9] = 0.0; + out_1602815725505969341[10] = 0.0; + out_1602815725505969341[11] = 0.0; + out_1602815725505969341[12] = 0.0; + out_1602815725505969341[13] = 0.0; + out_1602815725505969341[14] = 0.0; + out_1602815725505969341[15] = 0.0; + out_1602815725505969341[16] = 0.0; + out_1602815725505969341[17] = 0.0; + out_1602815725505969341[18] = 0.0; + out_1602815725505969341[19] = 1.0; + out_1602815725505969341[20] = 0.0; + out_1602815725505969341[21] = 0.0; + out_1602815725505969341[22] = 0.0; + out_1602815725505969341[23] = 0.0; + out_1602815725505969341[24] = 0.0; + out_1602815725505969341[25] = 0.0; + out_1602815725505969341[26] = 0.0; + out_1602815725505969341[27] = 0.0; + out_1602815725505969341[28] = 0.0; + out_1602815725505969341[29] = 0.0; + out_1602815725505969341[30] = 0.0; + out_1602815725505969341[31] = 0.0; + out_1602815725505969341[32] = 0.0; + out_1602815725505969341[33] = 0.0; + out_1602815725505969341[34] = 0.0; + out_1602815725505969341[35] = 0.0; + out_1602815725505969341[36] = 0.0; + out_1602815725505969341[37] = 0.0; + out_1602815725505969341[38] = 1.0; + out_1602815725505969341[39] = 0.0; + out_1602815725505969341[40] = 0.0; + out_1602815725505969341[41] = 0.0; + out_1602815725505969341[42] = 0.0; + out_1602815725505969341[43] = 0.0; + out_1602815725505969341[44] = 0.0; + out_1602815725505969341[45] = 0.0; + out_1602815725505969341[46] = 0.0; + out_1602815725505969341[47] = 0.0; + out_1602815725505969341[48] = 0.0; + out_1602815725505969341[49] = 0.0; + out_1602815725505969341[50] = 0.0; + out_1602815725505969341[51] = 0.0; + out_1602815725505969341[52] = 0.0; + out_1602815725505969341[53] = 0.0; + out_1602815725505969341[54] = 0.0; + out_1602815725505969341[55] = 0.0; + out_1602815725505969341[56] = 0.0; + out_1602815725505969341[57] = 1.0; + out_1602815725505969341[58] = 0.0; + out_1602815725505969341[59] = 0.0; + out_1602815725505969341[60] = 0.0; + out_1602815725505969341[61] = 0.0; + out_1602815725505969341[62] = 0.0; + out_1602815725505969341[63] = 0.0; + out_1602815725505969341[64] = 0.0; + out_1602815725505969341[65] = 0.0; + out_1602815725505969341[66] = 0.0; + out_1602815725505969341[67] = 0.0; + out_1602815725505969341[68] = 0.0; + out_1602815725505969341[69] = 0.0; + out_1602815725505969341[70] = 0.0; + out_1602815725505969341[71] = 0.0; + out_1602815725505969341[72] = 0.0; + out_1602815725505969341[73] = 0.0; + out_1602815725505969341[74] = 0.0; + out_1602815725505969341[75] = 0.0; + out_1602815725505969341[76] = 1.0; + out_1602815725505969341[77] = 0.0; + out_1602815725505969341[78] = 0.0; + out_1602815725505969341[79] = 0.0; + out_1602815725505969341[80] = 0.0; + out_1602815725505969341[81] = 0.0; + out_1602815725505969341[82] = 0.0; + out_1602815725505969341[83] = 0.0; + out_1602815725505969341[84] = 0.0; + out_1602815725505969341[85] = 0.0; + out_1602815725505969341[86] = 0.0; + out_1602815725505969341[87] = 0.0; + out_1602815725505969341[88] = 0.0; + out_1602815725505969341[89] = 0.0; + out_1602815725505969341[90] = 0.0; + out_1602815725505969341[91] = 0.0; + out_1602815725505969341[92] = 0.0; + out_1602815725505969341[93] = 0.0; + out_1602815725505969341[94] = 0.0; + out_1602815725505969341[95] = 1.0; + out_1602815725505969341[96] = 0.0; + out_1602815725505969341[97] = 0.0; + out_1602815725505969341[98] = 0.0; + out_1602815725505969341[99] = 0.0; + out_1602815725505969341[100] = 0.0; + out_1602815725505969341[101] = 0.0; + out_1602815725505969341[102] = 0.0; + out_1602815725505969341[103] = 0.0; + out_1602815725505969341[104] = 0.0; + out_1602815725505969341[105] = 0.0; + out_1602815725505969341[106] = 0.0; + out_1602815725505969341[107] = 0.0; + out_1602815725505969341[108] = 0.0; + out_1602815725505969341[109] = 0.0; + out_1602815725505969341[110] = 0.0; + out_1602815725505969341[111] = 0.0; + out_1602815725505969341[112] = 0.0; + out_1602815725505969341[113] = 0.0; + out_1602815725505969341[114] = 1.0; + out_1602815725505969341[115] = 0.0; + out_1602815725505969341[116] = 0.0; + out_1602815725505969341[117] = 0.0; + out_1602815725505969341[118] = 0.0; + out_1602815725505969341[119] = 0.0; + out_1602815725505969341[120] = 0.0; + out_1602815725505969341[121] = 0.0; + out_1602815725505969341[122] = 0.0; + out_1602815725505969341[123] = 0.0; + out_1602815725505969341[124] = 0.0; + out_1602815725505969341[125] = 0.0; + out_1602815725505969341[126] = 0.0; + out_1602815725505969341[127] = 0.0; + out_1602815725505969341[128] = 0.0; + out_1602815725505969341[129] = 0.0; + out_1602815725505969341[130] = 0.0; + out_1602815725505969341[131] = 0.0; + out_1602815725505969341[132] = 0.0; + out_1602815725505969341[133] = 1.0; + out_1602815725505969341[134] = 0.0; + out_1602815725505969341[135] = 0.0; + out_1602815725505969341[136] = 0.0; + out_1602815725505969341[137] = 0.0; + out_1602815725505969341[138] = 0.0; + out_1602815725505969341[139] = 0.0; + out_1602815725505969341[140] = 0.0; + out_1602815725505969341[141] = 0.0; + out_1602815725505969341[142] = 0.0; + out_1602815725505969341[143] = 0.0; + out_1602815725505969341[144] = 0.0; + out_1602815725505969341[145] = 0.0; + out_1602815725505969341[146] = 0.0; + out_1602815725505969341[147] = 0.0; + out_1602815725505969341[148] = 0.0; + out_1602815725505969341[149] = 0.0; + out_1602815725505969341[150] = 0.0; + out_1602815725505969341[151] = 0.0; + out_1602815725505969341[152] = 1.0; + out_1602815725505969341[153] = 0.0; + out_1602815725505969341[154] = 0.0; + out_1602815725505969341[155] = 0.0; + out_1602815725505969341[156] = 0.0; + out_1602815725505969341[157] = 0.0; + out_1602815725505969341[158] = 0.0; + out_1602815725505969341[159] = 0.0; + out_1602815725505969341[160] = 0.0; + out_1602815725505969341[161] = 0.0; + out_1602815725505969341[162] = 0.0; + out_1602815725505969341[163] = 0.0; + out_1602815725505969341[164] = 0.0; + out_1602815725505969341[165] = 0.0; + out_1602815725505969341[166] = 0.0; + out_1602815725505969341[167] = 0.0; + out_1602815725505969341[168] = 0.0; + out_1602815725505969341[169] = 0.0; + out_1602815725505969341[170] = 0.0; + out_1602815725505969341[171] = 1.0; + out_1602815725505969341[172] = 0.0; + out_1602815725505969341[173] = 0.0; + out_1602815725505969341[174] = 0.0; + out_1602815725505969341[175] = 0.0; + out_1602815725505969341[176] = 0.0; + out_1602815725505969341[177] = 0.0; + out_1602815725505969341[178] = 0.0; + out_1602815725505969341[179] = 0.0; + out_1602815725505969341[180] = 0.0; + out_1602815725505969341[181] = 0.0; + out_1602815725505969341[182] = 0.0; + out_1602815725505969341[183] = 0.0; + out_1602815725505969341[184] = 0.0; + out_1602815725505969341[185] = 0.0; + out_1602815725505969341[186] = 0.0; + out_1602815725505969341[187] = 0.0; + out_1602815725505969341[188] = 0.0; + out_1602815725505969341[189] = 0.0; + out_1602815725505969341[190] = 1.0; + out_1602815725505969341[191] = 0.0; + out_1602815725505969341[192] = 0.0; + out_1602815725505969341[193] = 0.0; + out_1602815725505969341[194] = 0.0; + out_1602815725505969341[195] = 0.0; + out_1602815725505969341[196] = 0.0; + out_1602815725505969341[197] = 0.0; + out_1602815725505969341[198] = 0.0; + out_1602815725505969341[199] = 0.0; + out_1602815725505969341[200] = 0.0; + out_1602815725505969341[201] = 0.0; + out_1602815725505969341[202] = 0.0; + out_1602815725505969341[203] = 0.0; + out_1602815725505969341[204] = 0.0; + out_1602815725505969341[205] = 0.0; + out_1602815725505969341[206] = 0.0; + out_1602815725505969341[207] = 0.0; + out_1602815725505969341[208] = 0.0; + out_1602815725505969341[209] = 1.0; + out_1602815725505969341[210] = 0.0; + out_1602815725505969341[211] = 0.0; + out_1602815725505969341[212] = 0.0; + out_1602815725505969341[213] = 0.0; + out_1602815725505969341[214] = 0.0; + out_1602815725505969341[215] = 0.0; + out_1602815725505969341[216] = 0.0; + out_1602815725505969341[217] = 0.0; + out_1602815725505969341[218] = 0.0; + out_1602815725505969341[219] = 0.0; + out_1602815725505969341[220] = 0.0; + out_1602815725505969341[221] = 0.0; + out_1602815725505969341[222] = 0.0; + out_1602815725505969341[223] = 0.0; + out_1602815725505969341[224] = 0.0; + out_1602815725505969341[225] = 0.0; + out_1602815725505969341[226] = 0.0; + out_1602815725505969341[227] = 0.0; + out_1602815725505969341[228] = 1.0; + out_1602815725505969341[229] = 0.0; + out_1602815725505969341[230] = 0.0; + out_1602815725505969341[231] = 0.0; + out_1602815725505969341[232] = 0.0; + out_1602815725505969341[233] = 0.0; + out_1602815725505969341[234] = 0.0; + out_1602815725505969341[235] = 0.0; + out_1602815725505969341[236] = 0.0; + out_1602815725505969341[237] = 0.0; + out_1602815725505969341[238] = 0.0; + out_1602815725505969341[239] = 0.0; + out_1602815725505969341[240] = 0.0; + out_1602815725505969341[241] = 0.0; + out_1602815725505969341[242] = 0.0; + out_1602815725505969341[243] = 0.0; + out_1602815725505969341[244] = 0.0; + out_1602815725505969341[245] = 0.0; + out_1602815725505969341[246] = 0.0; + out_1602815725505969341[247] = 1.0; + out_1602815725505969341[248] = 0.0; + out_1602815725505969341[249] = 0.0; + out_1602815725505969341[250] = 0.0; + out_1602815725505969341[251] = 0.0; + out_1602815725505969341[252] = 0.0; + out_1602815725505969341[253] = 0.0; + out_1602815725505969341[254] = 0.0; + out_1602815725505969341[255] = 0.0; + out_1602815725505969341[256] = 0.0; + out_1602815725505969341[257] = 0.0; + out_1602815725505969341[258] = 0.0; + out_1602815725505969341[259] = 0.0; + out_1602815725505969341[260] = 0.0; + out_1602815725505969341[261] = 0.0; + out_1602815725505969341[262] = 0.0; + out_1602815725505969341[263] = 0.0; + out_1602815725505969341[264] = 0.0; + out_1602815725505969341[265] = 0.0; + out_1602815725505969341[266] = 1.0; + out_1602815725505969341[267] = 0.0; + out_1602815725505969341[268] = 0.0; + out_1602815725505969341[269] = 0.0; + out_1602815725505969341[270] = 0.0; + out_1602815725505969341[271] = 0.0; + out_1602815725505969341[272] = 0.0; + out_1602815725505969341[273] = 0.0; + out_1602815725505969341[274] = 0.0; + out_1602815725505969341[275] = 0.0; + out_1602815725505969341[276] = 0.0; + out_1602815725505969341[277] = 0.0; + out_1602815725505969341[278] = 0.0; + out_1602815725505969341[279] = 0.0; + out_1602815725505969341[280] = 0.0; + out_1602815725505969341[281] = 0.0; + out_1602815725505969341[282] = 0.0; + out_1602815725505969341[283] = 0.0; + out_1602815725505969341[284] = 0.0; + out_1602815725505969341[285] = 1.0; + out_1602815725505969341[286] = 0.0; + out_1602815725505969341[287] = 0.0; + out_1602815725505969341[288] = 0.0; + out_1602815725505969341[289] = 0.0; + out_1602815725505969341[290] = 0.0; + out_1602815725505969341[291] = 0.0; + out_1602815725505969341[292] = 0.0; + out_1602815725505969341[293] = 0.0; + out_1602815725505969341[294] = 0.0; + out_1602815725505969341[295] = 0.0; + out_1602815725505969341[296] = 0.0; + out_1602815725505969341[297] = 0.0; + out_1602815725505969341[298] = 0.0; + out_1602815725505969341[299] = 0.0; + out_1602815725505969341[300] = 0.0; + out_1602815725505969341[301] = 0.0; + out_1602815725505969341[302] = 0.0; + out_1602815725505969341[303] = 0.0; + out_1602815725505969341[304] = 1.0; + out_1602815725505969341[305] = 0.0; + out_1602815725505969341[306] = 0.0; + out_1602815725505969341[307] = 0.0; + out_1602815725505969341[308] = 0.0; + out_1602815725505969341[309] = 0.0; + out_1602815725505969341[310] = 0.0; + out_1602815725505969341[311] = 0.0; + out_1602815725505969341[312] = 0.0; + out_1602815725505969341[313] = 0.0; + out_1602815725505969341[314] = 0.0; + out_1602815725505969341[315] = 0.0; + out_1602815725505969341[316] = 0.0; + out_1602815725505969341[317] = 0.0; + out_1602815725505969341[318] = 0.0; + out_1602815725505969341[319] = 0.0; + out_1602815725505969341[320] = 0.0; + out_1602815725505969341[321] = 0.0; + out_1602815725505969341[322] = 0.0; + out_1602815725505969341[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6102158893978946471) { - out_6102158893978946471[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_6102158893978946471[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_6102158893978946471[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_6102158893978946471[3] = dt*state[12] + state[3]; - out_6102158893978946471[4] = dt*state[13] + state[4]; - out_6102158893978946471[5] = dt*state[14] + state[5]; - out_6102158893978946471[6] = state[6]; - out_6102158893978946471[7] = state[7]; - out_6102158893978946471[8] = state[8]; - out_6102158893978946471[9] = state[9]; - out_6102158893978946471[10] = state[10]; - out_6102158893978946471[11] = state[11]; - out_6102158893978946471[12] = state[12]; - out_6102158893978946471[13] = state[13]; - out_6102158893978946471[14] = state[14]; - out_6102158893978946471[15] = state[15]; - out_6102158893978946471[16] = state[16]; - out_6102158893978946471[17] = state[17]; +void f_fun(double *state, double dt, double *out_6941148323357631663) { + out_6941148323357631663[0] = atan2((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), -(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1])); + out_6941148323357631663[1] = asin(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8])); + out_6941148323357631663[2] = atan2(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), -(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2])); + out_6941148323357631663[3] = dt*state[12] + state[3]; + out_6941148323357631663[4] = dt*state[13] + state[4]; + out_6941148323357631663[5] = dt*state[14] + state[5]; + out_6941148323357631663[6] = state[6]; + out_6941148323357631663[7] = state[7]; + out_6941148323357631663[8] = state[8]; + out_6941148323357631663[9] = state[9]; + out_6941148323357631663[10] = state[10]; + out_6941148323357631663[11] = state[11]; + out_6941148323357631663[12] = state[12]; + out_6941148323357631663[13] = state[13]; + out_6941148323357631663[14] = state[14]; + out_6941148323357631663[15] = state[15]; + out_6941148323357631663[16] = state[16]; + out_6941148323357631663[17] = state[17]; } -void F_fun(double *state, double dt, double *out_2499898042682651457) { - out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[2] = 0; - out_2499898042682651457[3] = 0; - out_2499898042682651457[4] = 0; - out_2499898042682651457[5] = 0; - out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[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_2499898042682651457[9] = 0; - out_2499898042682651457[10] = 0; - out_2499898042682651457[11] = 0; - out_2499898042682651457[12] = 0; - out_2499898042682651457[13] = 0; - out_2499898042682651457[14] = 0; - out_2499898042682651457[15] = 0; - out_2499898042682651457[16] = 0; - out_2499898042682651457[17] = 0; - out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[20] = 0; - out_2499898042682651457[21] = 0; - out_2499898042682651457[22] = 0; - out_2499898042682651457[23] = 0; - out_2499898042682651457[24] = 0; - out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[27] = 0; - out_2499898042682651457[28] = 0; - out_2499898042682651457[29] = 0; - out_2499898042682651457[30] = 0; - out_2499898042682651457[31] = 0; - out_2499898042682651457[32] = 0; - out_2499898042682651457[33] = 0; - out_2499898042682651457[34] = 0; - out_2499898042682651457[35] = 0; - out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[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_2499898042682651457[39] = 0; - out_2499898042682651457[40] = 0; - out_2499898042682651457[41] = 0; - out_2499898042682651457[42] = 0; - out_2499898042682651457[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_2499898042682651457[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_2499898042682651457[45] = 0; - out_2499898042682651457[46] = 0; - out_2499898042682651457[47] = 0; - out_2499898042682651457[48] = 0; - out_2499898042682651457[49] = 0; - out_2499898042682651457[50] = 0; - out_2499898042682651457[51] = 0; - out_2499898042682651457[52] = 0; - out_2499898042682651457[53] = 0; - out_2499898042682651457[54] = 0; - out_2499898042682651457[55] = 0; - out_2499898042682651457[56] = 0; - out_2499898042682651457[57] = 1; - out_2499898042682651457[58] = 0; - out_2499898042682651457[59] = 0; - out_2499898042682651457[60] = 0; - out_2499898042682651457[61] = 0; - out_2499898042682651457[62] = 0; - out_2499898042682651457[63] = 0; - out_2499898042682651457[64] = 0; - out_2499898042682651457[65] = 0; - out_2499898042682651457[66] = dt; - out_2499898042682651457[67] = 0; - out_2499898042682651457[68] = 0; - out_2499898042682651457[69] = 0; - out_2499898042682651457[70] = 0; - out_2499898042682651457[71] = 0; - out_2499898042682651457[72] = 0; - out_2499898042682651457[73] = 0; - out_2499898042682651457[74] = 0; - out_2499898042682651457[75] = 0; - out_2499898042682651457[76] = 1; - out_2499898042682651457[77] = 0; - out_2499898042682651457[78] = 0; - out_2499898042682651457[79] = 0; - out_2499898042682651457[80] = 0; - out_2499898042682651457[81] = 0; - out_2499898042682651457[82] = 0; - out_2499898042682651457[83] = 0; - out_2499898042682651457[84] = 0; - out_2499898042682651457[85] = dt; - out_2499898042682651457[86] = 0; - out_2499898042682651457[87] = 0; - out_2499898042682651457[88] = 0; - out_2499898042682651457[89] = 0; - out_2499898042682651457[90] = 0; - out_2499898042682651457[91] = 0; - out_2499898042682651457[92] = 0; - out_2499898042682651457[93] = 0; - out_2499898042682651457[94] = 0; - out_2499898042682651457[95] = 1; - out_2499898042682651457[96] = 0; - out_2499898042682651457[97] = 0; - out_2499898042682651457[98] = 0; - out_2499898042682651457[99] = 0; - out_2499898042682651457[100] = 0; - out_2499898042682651457[101] = 0; - out_2499898042682651457[102] = 0; - out_2499898042682651457[103] = 0; - out_2499898042682651457[104] = dt; - out_2499898042682651457[105] = 0; - out_2499898042682651457[106] = 0; - out_2499898042682651457[107] = 0; - out_2499898042682651457[108] = 0; - out_2499898042682651457[109] = 0; - out_2499898042682651457[110] = 0; - out_2499898042682651457[111] = 0; - out_2499898042682651457[112] = 0; - out_2499898042682651457[113] = 0; - out_2499898042682651457[114] = 1; - out_2499898042682651457[115] = 0; - out_2499898042682651457[116] = 0; - out_2499898042682651457[117] = 0; - out_2499898042682651457[118] = 0; - out_2499898042682651457[119] = 0; - out_2499898042682651457[120] = 0; - out_2499898042682651457[121] = 0; - out_2499898042682651457[122] = 0; - out_2499898042682651457[123] = 0; - out_2499898042682651457[124] = 0; - out_2499898042682651457[125] = 0; - out_2499898042682651457[126] = 0; - out_2499898042682651457[127] = 0; - out_2499898042682651457[128] = 0; - out_2499898042682651457[129] = 0; - out_2499898042682651457[130] = 0; - out_2499898042682651457[131] = 0; - out_2499898042682651457[132] = 0; - out_2499898042682651457[133] = 1; - out_2499898042682651457[134] = 0; - out_2499898042682651457[135] = 0; - out_2499898042682651457[136] = 0; - out_2499898042682651457[137] = 0; - out_2499898042682651457[138] = 0; - out_2499898042682651457[139] = 0; - out_2499898042682651457[140] = 0; - out_2499898042682651457[141] = 0; - out_2499898042682651457[142] = 0; - out_2499898042682651457[143] = 0; - out_2499898042682651457[144] = 0; - out_2499898042682651457[145] = 0; - out_2499898042682651457[146] = 0; - out_2499898042682651457[147] = 0; - out_2499898042682651457[148] = 0; - out_2499898042682651457[149] = 0; - out_2499898042682651457[150] = 0; - out_2499898042682651457[151] = 0; - out_2499898042682651457[152] = 1; - out_2499898042682651457[153] = 0; - out_2499898042682651457[154] = 0; - out_2499898042682651457[155] = 0; - out_2499898042682651457[156] = 0; - out_2499898042682651457[157] = 0; - out_2499898042682651457[158] = 0; - out_2499898042682651457[159] = 0; - out_2499898042682651457[160] = 0; - out_2499898042682651457[161] = 0; - out_2499898042682651457[162] = 0; - out_2499898042682651457[163] = 0; - out_2499898042682651457[164] = 0; - out_2499898042682651457[165] = 0; - out_2499898042682651457[166] = 0; - out_2499898042682651457[167] = 0; - out_2499898042682651457[168] = 0; - out_2499898042682651457[169] = 0; - out_2499898042682651457[170] = 0; - out_2499898042682651457[171] = 1; - out_2499898042682651457[172] = 0; - out_2499898042682651457[173] = 0; - out_2499898042682651457[174] = 0; - out_2499898042682651457[175] = 0; - out_2499898042682651457[176] = 0; - out_2499898042682651457[177] = 0; - out_2499898042682651457[178] = 0; - out_2499898042682651457[179] = 0; - out_2499898042682651457[180] = 0; - out_2499898042682651457[181] = 0; - out_2499898042682651457[182] = 0; - out_2499898042682651457[183] = 0; - out_2499898042682651457[184] = 0; - out_2499898042682651457[185] = 0; - out_2499898042682651457[186] = 0; - out_2499898042682651457[187] = 0; - out_2499898042682651457[188] = 0; - out_2499898042682651457[189] = 0; - out_2499898042682651457[190] = 1; - out_2499898042682651457[191] = 0; - out_2499898042682651457[192] = 0; - out_2499898042682651457[193] = 0; - out_2499898042682651457[194] = 0; - out_2499898042682651457[195] = 0; - out_2499898042682651457[196] = 0; - out_2499898042682651457[197] = 0; - out_2499898042682651457[198] = 0; - out_2499898042682651457[199] = 0; - out_2499898042682651457[200] = 0; - out_2499898042682651457[201] = 0; - out_2499898042682651457[202] = 0; - out_2499898042682651457[203] = 0; - out_2499898042682651457[204] = 0; - out_2499898042682651457[205] = 0; - out_2499898042682651457[206] = 0; - out_2499898042682651457[207] = 0; - out_2499898042682651457[208] = 0; - out_2499898042682651457[209] = 1; - out_2499898042682651457[210] = 0; - out_2499898042682651457[211] = 0; - out_2499898042682651457[212] = 0; - out_2499898042682651457[213] = 0; - out_2499898042682651457[214] = 0; - out_2499898042682651457[215] = 0; - out_2499898042682651457[216] = 0; - out_2499898042682651457[217] = 0; - out_2499898042682651457[218] = 0; - out_2499898042682651457[219] = 0; - out_2499898042682651457[220] = 0; - out_2499898042682651457[221] = 0; - out_2499898042682651457[222] = 0; - out_2499898042682651457[223] = 0; - out_2499898042682651457[224] = 0; - out_2499898042682651457[225] = 0; - out_2499898042682651457[226] = 0; - out_2499898042682651457[227] = 0; - out_2499898042682651457[228] = 1; - out_2499898042682651457[229] = 0; - out_2499898042682651457[230] = 0; - out_2499898042682651457[231] = 0; - out_2499898042682651457[232] = 0; - out_2499898042682651457[233] = 0; - out_2499898042682651457[234] = 0; - out_2499898042682651457[235] = 0; - out_2499898042682651457[236] = 0; - out_2499898042682651457[237] = 0; - out_2499898042682651457[238] = 0; - out_2499898042682651457[239] = 0; - out_2499898042682651457[240] = 0; - out_2499898042682651457[241] = 0; - out_2499898042682651457[242] = 0; - out_2499898042682651457[243] = 0; - out_2499898042682651457[244] = 0; - out_2499898042682651457[245] = 0; - out_2499898042682651457[246] = 0; - out_2499898042682651457[247] = 1; - out_2499898042682651457[248] = 0; - out_2499898042682651457[249] = 0; - out_2499898042682651457[250] = 0; - out_2499898042682651457[251] = 0; - out_2499898042682651457[252] = 0; - out_2499898042682651457[253] = 0; - out_2499898042682651457[254] = 0; - out_2499898042682651457[255] = 0; - out_2499898042682651457[256] = 0; - out_2499898042682651457[257] = 0; - out_2499898042682651457[258] = 0; - out_2499898042682651457[259] = 0; - out_2499898042682651457[260] = 0; - out_2499898042682651457[261] = 0; - out_2499898042682651457[262] = 0; - out_2499898042682651457[263] = 0; - out_2499898042682651457[264] = 0; - out_2499898042682651457[265] = 0; - out_2499898042682651457[266] = 1; - out_2499898042682651457[267] = 0; - out_2499898042682651457[268] = 0; - out_2499898042682651457[269] = 0; - out_2499898042682651457[270] = 0; - out_2499898042682651457[271] = 0; - out_2499898042682651457[272] = 0; - out_2499898042682651457[273] = 0; - out_2499898042682651457[274] = 0; - out_2499898042682651457[275] = 0; - out_2499898042682651457[276] = 0; - out_2499898042682651457[277] = 0; - out_2499898042682651457[278] = 0; - out_2499898042682651457[279] = 0; - out_2499898042682651457[280] = 0; - out_2499898042682651457[281] = 0; - out_2499898042682651457[282] = 0; - out_2499898042682651457[283] = 0; - out_2499898042682651457[284] = 0; - out_2499898042682651457[285] = 1; - out_2499898042682651457[286] = 0; - out_2499898042682651457[287] = 0; - out_2499898042682651457[288] = 0; - out_2499898042682651457[289] = 0; - out_2499898042682651457[290] = 0; - out_2499898042682651457[291] = 0; - out_2499898042682651457[292] = 0; - out_2499898042682651457[293] = 0; - out_2499898042682651457[294] = 0; - out_2499898042682651457[295] = 0; - out_2499898042682651457[296] = 0; - out_2499898042682651457[297] = 0; - out_2499898042682651457[298] = 0; - out_2499898042682651457[299] = 0; - out_2499898042682651457[300] = 0; - out_2499898042682651457[301] = 0; - out_2499898042682651457[302] = 0; - out_2499898042682651457[303] = 0; - out_2499898042682651457[304] = 1; - out_2499898042682651457[305] = 0; - out_2499898042682651457[306] = 0; - out_2499898042682651457[307] = 0; - out_2499898042682651457[308] = 0; - out_2499898042682651457[309] = 0; - out_2499898042682651457[310] = 0; - out_2499898042682651457[311] = 0; - out_2499898042682651457[312] = 0; - out_2499898042682651457[313] = 0; - out_2499898042682651457[314] = 0; - out_2499898042682651457[315] = 0; - out_2499898042682651457[316] = 0; - out_2499898042682651457[317] = 0; - out_2499898042682651457[318] = 0; - out_2499898042682651457[319] = 0; - out_2499898042682651457[320] = 0; - out_2499898042682651457[321] = 0; - out_2499898042682651457[322] = 0; - out_2499898042682651457[323] = 1; +void F_fun(double *state, double dt, double *out_8174317485626071951) { + out_8174317485626071951[0] = ((-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*cos(state[0])*cos(state[1]) - sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*cos(state[0])*cos(state[1]) - sin(dt*state[6])*sin(state[0])*cos(dt*state[7])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8174317485626071951[1] = ((-sin(dt*state[6])*sin(dt*state[8]) - sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*cos(state[1]) - (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*sin(state[1]) - sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(state[0]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*sin(state[1]) + (-sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) + sin(dt*state[8])*cos(dt*state[6]))*cos(state[1]) - sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(state[0]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8174317485626071951[2] = 0; + out_8174317485626071951[3] = 0; + out_8174317485626071951[4] = 0; + out_8174317485626071951[5] = 0; + out_8174317485626071951[6] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(dt*cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) - dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8174317485626071951[7] = (-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[6])*sin(dt*state[7])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[6])*sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) - dt*sin(dt*state[6])*sin(state[1])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + (-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))*(-dt*sin(dt*state[7])*cos(dt*state[6])*cos(state[0])*cos(state[1]) + dt*sin(dt*state[8])*sin(state[0])*cos(dt*state[6])*cos(dt*state[7])*cos(state[1]) - dt*sin(state[1])*cos(dt*state[6])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8174317485626071951[8] = ((dt*sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + dt*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (dt*sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]))*(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)) + ((dt*sin(dt*state[6])*sin(dt*state[8]) + dt*sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (-dt*sin(dt*state[6])*cos(dt*state[8]) + dt*sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]))*(-(sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) + (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) - sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/(pow(-(sin(dt*state[6])*sin(dt*state[8]) + sin(dt*state[7])*cos(dt*state[6])*cos(dt*state[8]))*sin(state[1]) + (-sin(dt*state[6])*cos(dt*state[8]) + sin(dt*state[7])*sin(dt*state[8])*cos(dt*state[6]))*sin(state[0])*cos(state[1]) + cos(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2) + pow((sin(dt*state[6])*sin(dt*state[7])*sin(dt*state[8]) + cos(dt*state[6])*cos(dt*state[8]))*sin(state[0])*cos(state[1]) - (sin(dt*state[6])*sin(dt*state[7])*cos(dt*state[8]) - sin(dt*state[8])*cos(dt*state[6]))*sin(state[1]) + sin(dt*state[6])*cos(dt*state[7])*cos(state[0])*cos(state[1]), 2)); + out_8174317485626071951[9] = 0; + out_8174317485626071951[10] = 0; + out_8174317485626071951[11] = 0; + out_8174317485626071951[12] = 0; + out_8174317485626071951[13] = 0; + out_8174317485626071951[14] = 0; + out_8174317485626071951[15] = 0; + out_8174317485626071951[16] = 0; + out_8174317485626071951[17] = 0; + out_8174317485626071951[18] = (-sin(dt*state[7])*sin(state[0])*cos(state[1]) - sin(dt*state[8])*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8174317485626071951[19] = (-sin(dt*state[7])*sin(state[1])*cos(state[0]) + sin(dt*state[8])*sin(state[0])*sin(state[1])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8174317485626071951[20] = 0; + out_8174317485626071951[21] = 0; + out_8174317485626071951[22] = 0; + out_8174317485626071951[23] = 0; + out_8174317485626071951[24] = 0; + out_8174317485626071951[25] = (dt*sin(dt*state[7])*sin(dt*state[8])*sin(state[0])*cos(state[1]) - dt*sin(dt*state[7])*sin(state[1])*cos(dt*state[8]) + dt*cos(dt*state[7])*cos(state[0])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8174317485626071951[26] = (-dt*sin(dt*state[8])*sin(state[1])*cos(dt*state[7]) - dt*sin(state[0])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/sqrt(1 - pow(sin(dt*state[7])*cos(state[0])*cos(state[1]) - sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1]) + sin(state[1])*cos(dt*state[7])*cos(dt*state[8]), 2)); + out_8174317485626071951[27] = 0; + out_8174317485626071951[28] = 0; + out_8174317485626071951[29] = 0; + out_8174317485626071951[30] = 0; + out_8174317485626071951[31] = 0; + out_8174317485626071951[32] = 0; + out_8174317485626071951[33] = 0; + out_8174317485626071951[34] = 0; + out_8174317485626071951[35] = 0; + out_8174317485626071951[36] = ((sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8174317485626071951[37] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-sin(dt*state[7])*sin(state[2])*cos(state[0])*cos(state[1]) + sin(dt*state[8])*sin(state[0])*sin(state[2])*cos(dt*state[7])*cos(state[1]) - sin(state[1])*sin(state[2])*cos(dt*state[7])*cos(dt*state[8]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(-sin(dt*state[7])*cos(state[0])*cos(state[1])*cos(state[2]) + sin(dt*state[8])*sin(state[0])*cos(dt*state[7])*cos(state[1])*cos(state[2]) - sin(state[1])*cos(dt*state[7])*cos(dt*state[8])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8174317485626071951[38] = ((-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (-sin(state[0])*sin(state[1])*sin(state[2]) - cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8174317485626071951[39] = 0; + out_8174317485626071951[40] = 0; + out_8174317485626071951[41] = 0; + out_8174317485626071951[42] = 0; + out_8174317485626071951[43] = (-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))*(dt*(sin(state[0])*cos(state[2]) - sin(state[1])*sin(state[2])*cos(state[0]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*sin(state[2])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + ((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))*(dt*(-sin(state[0])*sin(state[2]) - sin(state[1])*cos(state[0])*cos(state[2]))*cos(dt*state[7]) - dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[7])*sin(dt*state[8]) - dt*sin(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8174317485626071951[44] = (dt*(sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*sin(state[2])*cos(dt*state[7])*cos(state[1]))*(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)) + (dt*(sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*cos(dt*state[7])*cos(dt*state[8]) - dt*sin(dt*state[8])*cos(dt*state[7])*cos(state[1])*cos(state[2]))*((-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) - (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) - sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]))/(pow(-(sin(state[0])*sin(state[2]) + sin(state[1])*cos(state[0])*cos(state[2]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*cos(state[2]) - sin(state[2])*cos(state[0]))*sin(dt*state[8])*cos(dt*state[7]) + cos(dt*state[7])*cos(dt*state[8])*cos(state[1])*cos(state[2]), 2) + pow(-(-sin(state[0])*cos(state[2]) + sin(state[1])*sin(state[2])*cos(state[0]))*sin(dt*state[7]) + (sin(state[0])*sin(state[1])*sin(state[2]) + cos(state[0])*cos(state[2]))*sin(dt*state[8])*cos(dt*state[7]) + sin(state[2])*cos(dt*state[7])*cos(dt*state[8])*cos(state[1]), 2)); + out_8174317485626071951[45] = 0; + out_8174317485626071951[46] = 0; + out_8174317485626071951[47] = 0; + out_8174317485626071951[48] = 0; + out_8174317485626071951[49] = 0; + out_8174317485626071951[50] = 0; + out_8174317485626071951[51] = 0; + out_8174317485626071951[52] = 0; + out_8174317485626071951[53] = 0; + out_8174317485626071951[54] = 0; + out_8174317485626071951[55] = 0; + out_8174317485626071951[56] = 0; + out_8174317485626071951[57] = 1; + out_8174317485626071951[58] = 0; + out_8174317485626071951[59] = 0; + out_8174317485626071951[60] = 0; + out_8174317485626071951[61] = 0; + out_8174317485626071951[62] = 0; + out_8174317485626071951[63] = 0; + out_8174317485626071951[64] = 0; + out_8174317485626071951[65] = 0; + out_8174317485626071951[66] = dt; + out_8174317485626071951[67] = 0; + out_8174317485626071951[68] = 0; + out_8174317485626071951[69] = 0; + out_8174317485626071951[70] = 0; + out_8174317485626071951[71] = 0; + out_8174317485626071951[72] = 0; + out_8174317485626071951[73] = 0; + out_8174317485626071951[74] = 0; + out_8174317485626071951[75] = 0; + out_8174317485626071951[76] = 1; + out_8174317485626071951[77] = 0; + out_8174317485626071951[78] = 0; + out_8174317485626071951[79] = 0; + out_8174317485626071951[80] = 0; + out_8174317485626071951[81] = 0; + out_8174317485626071951[82] = 0; + out_8174317485626071951[83] = 0; + out_8174317485626071951[84] = 0; + out_8174317485626071951[85] = dt; + out_8174317485626071951[86] = 0; + out_8174317485626071951[87] = 0; + out_8174317485626071951[88] = 0; + out_8174317485626071951[89] = 0; + out_8174317485626071951[90] = 0; + out_8174317485626071951[91] = 0; + out_8174317485626071951[92] = 0; + out_8174317485626071951[93] = 0; + out_8174317485626071951[94] = 0; + out_8174317485626071951[95] = 1; + out_8174317485626071951[96] = 0; + out_8174317485626071951[97] = 0; + out_8174317485626071951[98] = 0; + out_8174317485626071951[99] = 0; + out_8174317485626071951[100] = 0; + out_8174317485626071951[101] = 0; + out_8174317485626071951[102] = 0; + out_8174317485626071951[103] = 0; + out_8174317485626071951[104] = dt; + out_8174317485626071951[105] = 0; + out_8174317485626071951[106] = 0; + out_8174317485626071951[107] = 0; + out_8174317485626071951[108] = 0; + out_8174317485626071951[109] = 0; + out_8174317485626071951[110] = 0; + out_8174317485626071951[111] = 0; + out_8174317485626071951[112] = 0; + out_8174317485626071951[113] = 0; + out_8174317485626071951[114] = 1; + out_8174317485626071951[115] = 0; + out_8174317485626071951[116] = 0; + out_8174317485626071951[117] = 0; + out_8174317485626071951[118] = 0; + out_8174317485626071951[119] = 0; + out_8174317485626071951[120] = 0; + out_8174317485626071951[121] = 0; + out_8174317485626071951[122] = 0; + out_8174317485626071951[123] = 0; + out_8174317485626071951[124] = 0; + out_8174317485626071951[125] = 0; + out_8174317485626071951[126] = 0; + out_8174317485626071951[127] = 0; + out_8174317485626071951[128] = 0; + out_8174317485626071951[129] = 0; + out_8174317485626071951[130] = 0; + out_8174317485626071951[131] = 0; + out_8174317485626071951[132] = 0; + out_8174317485626071951[133] = 1; + out_8174317485626071951[134] = 0; + out_8174317485626071951[135] = 0; + out_8174317485626071951[136] = 0; + out_8174317485626071951[137] = 0; + out_8174317485626071951[138] = 0; + out_8174317485626071951[139] = 0; + out_8174317485626071951[140] = 0; + out_8174317485626071951[141] = 0; + out_8174317485626071951[142] = 0; + out_8174317485626071951[143] = 0; + out_8174317485626071951[144] = 0; + out_8174317485626071951[145] = 0; + out_8174317485626071951[146] = 0; + out_8174317485626071951[147] = 0; + out_8174317485626071951[148] = 0; + out_8174317485626071951[149] = 0; + out_8174317485626071951[150] = 0; + out_8174317485626071951[151] = 0; + out_8174317485626071951[152] = 1; + out_8174317485626071951[153] = 0; + out_8174317485626071951[154] = 0; + out_8174317485626071951[155] = 0; + out_8174317485626071951[156] = 0; + out_8174317485626071951[157] = 0; + out_8174317485626071951[158] = 0; + out_8174317485626071951[159] = 0; + out_8174317485626071951[160] = 0; + out_8174317485626071951[161] = 0; + out_8174317485626071951[162] = 0; + out_8174317485626071951[163] = 0; + out_8174317485626071951[164] = 0; + out_8174317485626071951[165] = 0; + out_8174317485626071951[166] = 0; + out_8174317485626071951[167] = 0; + out_8174317485626071951[168] = 0; + out_8174317485626071951[169] = 0; + out_8174317485626071951[170] = 0; + out_8174317485626071951[171] = 1; + out_8174317485626071951[172] = 0; + out_8174317485626071951[173] = 0; + out_8174317485626071951[174] = 0; + out_8174317485626071951[175] = 0; + out_8174317485626071951[176] = 0; + out_8174317485626071951[177] = 0; + out_8174317485626071951[178] = 0; + out_8174317485626071951[179] = 0; + out_8174317485626071951[180] = 0; + out_8174317485626071951[181] = 0; + out_8174317485626071951[182] = 0; + out_8174317485626071951[183] = 0; + out_8174317485626071951[184] = 0; + out_8174317485626071951[185] = 0; + out_8174317485626071951[186] = 0; + out_8174317485626071951[187] = 0; + out_8174317485626071951[188] = 0; + out_8174317485626071951[189] = 0; + out_8174317485626071951[190] = 1; + out_8174317485626071951[191] = 0; + out_8174317485626071951[192] = 0; + out_8174317485626071951[193] = 0; + out_8174317485626071951[194] = 0; + out_8174317485626071951[195] = 0; + out_8174317485626071951[196] = 0; + out_8174317485626071951[197] = 0; + out_8174317485626071951[198] = 0; + out_8174317485626071951[199] = 0; + out_8174317485626071951[200] = 0; + out_8174317485626071951[201] = 0; + out_8174317485626071951[202] = 0; + out_8174317485626071951[203] = 0; + out_8174317485626071951[204] = 0; + out_8174317485626071951[205] = 0; + out_8174317485626071951[206] = 0; + out_8174317485626071951[207] = 0; + out_8174317485626071951[208] = 0; + out_8174317485626071951[209] = 1; + out_8174317485626071951[210] = 0; + out_8174317485626071951[211] = 0; + out_8174317485626071951[212] = 0; + out_8174317485626071951[213] = 0; + out_8174317485626071951[214] = 0; + out_8174317485626071951[215] = 0; + out_8174317485626071951[216] = 0; + out_8174317485626071951[217] = 0; + out_8174317485626071951[218] = 0; + out_8174317485626071951[219] = 0; + out_8174317485626071951[220] = 0; + out_8174317485626071951[221] = 0; + out_8174317485626071951[222] = 0; + out_8174317485626071951[223] = 0; + out_8174317485626071951[224] = 0; + out_8174317485626071951[225] = 0; + out_8174317485626071951[226] = 0; + out_8174317485626071951[227] = 0; + out_8174317485626071951[228] = 1; + out_8174317485626071951[229] = 0; + out_8174317485626071951[230] = 0; + out_8174317485626071951[231] = 0; + out_8174317485626071951[232] = 0; + out_8174317485626071951[233] = 0; + out_8174317485626071951[234] = 0; + out_8174317485626071951[235] = 0; + out_8174317485626071951[236] = 0; + out_8174317485626071951[237] = 0; + out_8174317485626071951[238] = 0; + out_8174317485626071951[239] = 0; + out_8174317485626071951[240] = 0; + out_8174317485626071951[241] = 0; + out_8174317485626071951[242] = 0; + out_8174317485626071951[243] = 0; + out_8174317485626071951[244] = 0; + out_8174317485626071951[245] = 0; + out_8174317485626071951[246] = 0; + out_8174317485626071951[247] = 1; + out_8174317485626071951[248] = 0; + out_8174317485626071951[249] = 0; + out_8174317485626071951[250] = 0; + out_8174317485626071951[251] = 0; + out_8174317485626071951[252] = 0; + out_8174317485626071951[253] = 0; + out_8174317485626071951[254] = 0; + out_8174317485626071951[255] = 0; + out_8174317485626071951[256] = 0; + out_8174317485626071951[257] = 0; + out_8174317485626071951[258] = 0; + out_8174317485626071951[259] = 0; + out_8174317485626071951[260] = 0; + out_8174317485626071951[261] = 0; + out_8174317485626071951[262] = 0; + out_8174317485626071951[263] = 0; + out_8174317485626071951[264] = 0; + out_8174317485626071951[265] = 0; + out_8174317485626071951[266] = 1; + out_8174317485626071951[267] = 0; + out_8174317485626071951[268] = 0; + out_8174317485626071951[269] = 0; + out_8174317485626071951[270] = 0; + out_8174317485626071951[271] = 0; + out_8174317485626071951[272] = 0; + out_8174317485626071951[273] = 0; + out_8174317485626071951[274] = 0; + out_8174317485626071951[275] = 0; + out_8174317485626071951[276] = 0; + out_8174317485626071951[277] = 0; + out_8174317485626071951[278] = 0; + out_8174317485626071951[279] = 0; + out_8174317485626071951[280] = 0; + out_8174317485626071951[281] = 0; + out_8174317485626071951[282] = 0; + out_8174317485626071951[283] = 0; + out_8174317485626071951[284] = 0; + out_8174317485626071951[285] = 1; + out_8174317485626071951[286] = 0; + out_8174317485626071951[287] = 0; + out_8174317485626071951[288] = 0; + out_8174317485626071951[289] = 0; + out_8174317485626071951[290] = 0; + out_8174317485626071951[291] = 0; + out_8174317485626071951[292] = 0; + out_8174317485626071951[293] = 0; + out_8174317485626071951[294] = 0; + out_8174317485626071951[295] = 0; + out_8174317485626071951[296] = 0; + out_8174317485626071951[297] = 0; + out_8174317485626071951[298] = 0; + out_8174317485626071951[299] = 0; + out_8174317485626071951[300] = 0; + out_8174317485626071951[301] = 0; + out_8174317485626071951[302] = 0; + out_8174317485626071951[303] = 0; + out_8174317485626071951[304] = 1; + out_8174317485626071951[305] = 0; + out_8174317485626071951[306] = 0; + out_8174317485626071951[307] = 0; + out_8174317485626071951[308] = 0; + out_8174317485626071951[309] = 0; + out_8174317485626071951[310] = 0; + out_8174317485626071951[311] = 0; + out_8174317485626071951[312] = 0; + out_8174317485626071951[313] = 0; + out_8174317485626071951[314] = 0; + out_8174317485626071951[315] = 0; + out_8174317485626071951[316] = 0; + out_8174317485626071951[317] = 0; + out_8174317485626071951[318] = 0; + out_8174317485626071951[319] = 0; + out_8174317485626071951[320] = 0; + out_8174317485626071951[321] = 0; + out_8174317485626071951[322] = 0; + out_8174317485626071951[323] = 1; } -void h_4(double *state, double *unused, double *out_3279047988568344132) { - out_3279047988568344132[0] = state[6] + state[9]; - out_3279047988568344132[1] = state[7] + state[10]; - out_3279047988568344132[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5523365294760256360) { + out_5523365294760256360[0] = state[6] + state[9]; + out_5523365294760256360[1] = state[7] + state[10]; + out_5523365294760256360[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_5899742257253909940) { - out_5899742257253909940[0] = 0; - out_5899742257253909940[1] = 0; - out_5899742257253909940[2] = 0; - out_5899742257253909940[3] = 0; - out_5899742257253909940[4] = 0; - out_5899742257253909940[5] = 0; - out_5899742257253909940[6] = 1; - out_5899742257253909940[7] = 0; - out_5899742257253909940[8] = 0; - out_5899742257253909940[9] = 1; - out_5899742257253909940[10] = 0; - out_5899742257253909940[11] = 0; - out_5899742257253909940[12] = 0; - out_5899742257253909940[13] = 0; - out_5899742257253909940[14] = 0; - out_5899742257253909940[15] = 0; - out_5899742257253909940[16] = 0; - out_5899742257253909940[17] = 0; - out_5899742257253909940[18] = 0; - out_5899742257253909940[19] = 0; - out_5899742257253909940[20] = 0; - out_5899742257253909940[21] = 0; - out_5899742257253909940[22] = 0; - out_5899742257253909940[23] = 0; - out_5899742257253909940[24] = 0; - out_5899742257253909940[25] = 1; - out_5899742257253909940[26] = 0; - out_5899742257253909940[27] = 0; - out_5899742257253909940[28] = 1; - out_5899742257253909940[29] = 0; - out_5899742257253909940[30] = 0; - out_5899742257253909940[31] = 0; - out_5899742257253909940[32] = 0; - out_5899742257253909940[33] = 0; - out_5899742257253909940[34] = 0; - out_5899742257253909940[35] = 0; - out_5899742257253909940[36] = 0; - out_5899742257253909940[37] = 0; - out_5899742257253909940[38] = 0; - out_5899742257253909940[39] = 0; - out_5899742257253909940[40] = 0; - out_5899742257253909940[41] = 0; - out_5899742257253909940[42] = 0; - out_5899742257253909940[43] = 0; - out_5899742257253909940[44] = 1; - out_5899742257253909940[45] = 0; - out_5899742257253909940[46] = 0; - out_5899742257253909940[47] = 1; - out_5899742257253909940[48] = 0; - out_5899742257253909940[49] = 0; - out_5899742257253909940[50] = 0; - out_5899742257253909940[51] = 0; - out_5899742257253909940[52] = 0; - out_5899742257253909940[53] = 0; +void H_4(double *state, double *unused, double *out_848654723451256734) { + out_848654723451256734[0] = 0; + out_848654723451256734[1] = 0; + out_848654723451256734[2] = 0; + out_848654723451256734[3] = 0; + out_848654723451256734[4] = 0; + out_848654723451256734[5] = 0; + out_848654723451256734[6] = 1; + out_848654723451256734[7] = 0; + out_848654723451256734[8] = 0; + out_848654723451256734[9] = 1; + out_848654723451256734[10] = 0; + out_848654723451256734[11] = 0; + out_848654723451256734[12] = 0; + out_848654723451256734[13] = 0; + out_848654723451256734[14] = 0; + out_848654723451256734[15] = 0; + out_848654723451256734[16] = 0; + out_848654723451256734[17] = 0; + out_848654723451256734[18] = 0; + out_848654723451256734[19] = 0; + out_848654723451256734[20] = 0; + out_848654723451256734[21] = 0; + out_848654723451256734[22] = 0; + out_848654723451256734[23] = 0; + out_848654723451256734[24] = 0; + out_848654723451256734[25] = 1; + out_848654723451256734[26] = 0; + out_848654723451256734[27] = 0; + out_848654723451256734[28] = 1; + out_848654723451256734[29] = 0; + out_848654723451256734[30] = 0; + out_848654723451256734[31] = 0; + out_848654723451256734[32] = 0; + out_848654723451256734[33] = 0; + out_848654723451256734[34] = 0; + out_848654723451256734[35] = 0; + out_848654723451256734[36] = 0; + out_848654723451256734[37] = 0; + out_848654723451256734[38] = 0; + out_848654723451256734[39] = 0; + out_848654723451256734[40] = 0; + out_848654723451256734[41] = 0; + out_848654723451256734[42] = 0; + out_848654723451256734[43] = 0; + out_848654723451256734[44] = 1; + out_848654723451256734[45] = 0; + out_848654723451256734[46] = 0; + out_848654723451256734[47] = 1; + out_848654723451256734[48] = 0; + out_848654723451256734[49] = 0; + out_848654723451256734[50] = 0; + out_848654723451256734[51] = 0; + out_848654723451256734[52] = 0; + out_848654723451256734[53] = 0; } -void h_10(double *state, double *unused, double *out_9007933995216703840) { - out_9007933995216703840[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_9007933995216703840[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_9007933995216703840[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_1239079208898706284) { + out_1239079208898706284[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_1239079208898706284[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_1239079208898706284[2] = -9.8100000000000005*cos(state[0])*cos(state[1]) - state[3]*state[7] + state[4]*state[6] + state[14] + state[17]; } -void H_10(double *state, double *unused, double *out_2326992144684427807) { - out_2326992144684427807[0] = 0; - out_2326992144684427807[1] = 9.8100000000000005*cos(state[1]); - out_2326992144684427807[2] = 0; - out_2326992144684427807[3] = 0; - out_2326992144684427807[4] = -state[8]; - out_2326992144684427807[5] = state[7]; - out_2326992144684427807[6] = 0; - out_2326992144684427807[7] = state[5]; - out_2326992144684427807[8] = -state[4]; - out_2326992144684427807[9] = 0; - out_2326992144684427807[10] = 0; - out_2326992144684427807[11] = 0; - out_2326992144684427807[12] = 1; - out_2326992144684427807[13] = 0; - out_2326992144684427807[14] = 0; - out_2326992144684427807[15] = 1; - out_2326992144684427807[16] = 0; - out_2326992144684427807[17] = 0; - out_2326992144684427807[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_2326992144684427807[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_2326992144684427807[20] = 0; - out_2326992144684427807[21] = state[8]; - out_2326992144684427807[22] = 0; - out_2326992144684427807[23] = -state[6]; - out_2326992144684427807[24] = -state[5]; - out_2326992144684427807[25] = 0; - out_2326992144684427807[26] = state[3]; - out_2326992144684427807[27] = 0; - out_2326992144684427807[28] = 0; - out_2326992144684427807[29] = 0; - out_2326992144684427807[30] = 0; - out_2326992144684427807[31] = 1; - out_2326992144684427807[32] = 0; - out_2326992144684427807[33] = 0; - out_2326992144684427807[34] = 1; - out_2326992144684427807[35] = 0; - out_2326992144684427807[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_2326992144684427807[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_2326992144684427807[38] = 0; - out_2326992144684427807[39] = -state[7]; - out_2326992144684427807[40] = state[6]; - out_2326992144684427807[41] = 0; - out_2326992144684427807[42] = state[4]; - out_2326992144684427807[43] = -state[3]; - out_2326992144684427807[44] = 0; - out_2326992144684427807[45] = 0; - out_2326992144684427807[46] = 0; - out_2326992144684427807[47] = 0; - out_2326992144684427807[48] = 0; - out_2326992144684427807[49] = 0; - out_2326992144684427807[50] = 1; - out_2326992144684427807[51] = 0; - out_2326992144684427807[52] = 0; - out_2326992144684427807[53] = 1; +void H_10(double *state, double *unused, double *out_1001724707531765931) { + out_1001724707531765931[0] = 0; + out_1001724707531765931[1] = 9.8100000000000005*cos(state[1]); + out_1001724707531765931[2] = 0; + out_1001724707531765931[3] = 0; + out_1001724707531765931[4] = -state[8]; + out_1001724707531765931[5] = state[7]; + out_1001724707531765931[6] = 0; + out_1001724707531765931[7] = state[5]; + out_1001724707531765931[8] = -state[4]; + out_1001724707531765931[9] = 0; + out_1001724707531765931[10] = 0; + out_1001724707531765931[11] = 0; + out_1001724707531765931[12] = 1; + out_1001724707531765931[13] = 0; + out_1001724707531765931[14] = 0; + out_1001724707531765931[15] = 1; + out_1001724707531765931[16] = 0; + out_1001724707531765931[17] = 0; + out_1001724707531765931[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1001724707531765931[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1001724707531765931[20] = 0; + out_1001724707531765931[21] = state[8]; + out_1001724707531765931[22] = 0; + out_1001724707531765931[23] = -state[6]; + out_1001724707531765931[24] = -state[5]; + out_1001724707531765931[25] = 0; + out_1001724707531765931[26] = state[3]; + out_1001724707531765931[27] = 0; + out_1001724707531765931[28] = 0; + out_1001724707531765931[29] = 0; + out_1001724707531765931[30] = 0; + out_1001724707531765931[31] = 1; + out_1001724707531765931[32] = 0; + out_1001724707531765931[33] = 0; + out_1001724707531765931[34] = 1; + out_1001724707531765931[35] = 0; + out_1001724707531765931[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1001724707531765931[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1001724707531765931[38] = 0; + out_1001724707531765931[39] = -state[7]; + out_1001724707531765931[40] = state[6]; + out_1001724707531765931[41] = 0; + out_1001724707531765931[42] = state[4]; + out_1001724707531765931[43] = -state[3]; + out_1001724707531765931[44] = 0; + out_1001724707531765931[45] = 0; + out_1001724707531765931[46] = 0; + out_1001724707531765931[47] = 0; + out_1001724707531765931[48] = 0; + out_1001724707531765931[49] = 0; + out_1001724707531765931[50] = 1; + out_1001724707531765931[51] = 0; + out_1001724707531765931[52] = 0; + out_1001724707531765931[53] = 1; } -void h_13(double *state, double *unused, double *out_8858214994014047499) { - out_8858214994014047499[0] = state[3]; - out_8858214994014047499[1] = state[4]; - out_8858214994014047499[2] = state[5]; +void h_13(double *state, double *unused, double *out_7307670055393162069) { + out_7307670055393162069[0] = state[3]; + out_7307670055393162069[1] = state[4]; + out_7307670055393162069[2] = state[5]; } -void H_13(double *state, double *unused, double *out_1710888951062790989) { - out_1710888951062790989[0] = 0; - out_1710888951062790989[1] = 0; - out_1710888951062790989[2] = 0; - out_1710888951062790989[3] = 1; - out_1710888951062790989[4] = 0; - out_1710888951062790989[5] = 0; - out_1710888951062790989[6] = 0; - out_1710888951062790989[7] = 0; - out_1710888951062790989[8] = 0; - out_1710888951062790989[9] = 0; - out_1710888951062790989[10] = 0; - out_1710888951062790989[11] = 0; - out_1710888951062790989[12] = 0; - out_1710888951062790989[13] = 0; - out_1710888951062790989[14] = 0; - out_1710888951062790989[15] = 0; - out_1710888951062790989[16] = 0; - out_1710888951062790989[17] = 0; - out_1710888951062790989[18] = 0; - out_1710888951062790989[19] = 0; - out_1710888951062790989[20] = 0; - out_1710888951062790989[21] = 0; - out_1710888951062790989[22] = 1; - out_1710888951062790989[23] = 0; - out_1710888951062790989[24] = 0; - out_1710888951062790989[25] = 0; - out_1710888951062790989[26] = 0; - out_1710888951062790989[27] = 0; - out_1710888951062790989[28] = 0; - out_1710888951062790989[29] = 0; - out_1710888951062790989[30] = 0; - out_1710888951062790989[31] = 0; - out_1710888951062790989[32] = 0; - out_1710888951062790989[33] = 0; - out_1710888951062790989[34] = 0; - out_1710888951062790989[35] = 0; - out_1710888951062790989[36] = 0; - out_1710888951062790989[37] = 0; - out_1710888951062790989[38] = 0; - out_1710888951062790989[39] = 0; - out_1710888951062790989[40] = 0; - out_1710888951062790989[41] = 1; - out_1710888951062790989[42] = 0; - out_1710888951062790989[43] = 0; - out_1710888951062790989[44] = 0; - out_1710888951062790989[45] = 0; - out_1710888951062790989[46] = 0; - out_1710888951062790989[47] = 0; - out_1710888951062790989[48] = 0; - out_1710888951062790989[49] = 0; - out_1710888951062790989[50] = 0; - out_1710888951062790989[51] = 0; - out_1710888951062790989[52] = 0; - out_1710888951062790989[53] = 0; +void H_13(double *state, double *unused, double *out_6761976484865444195) { + out_6761976484865444195[0] = 0; + out_6761976484865444195[1] = 0; + out_6761976484865444195[2] = 0; + out_6761976484865444195[3] = 1; + out_6761976484865444195[4] = 0; + out_6761976484865444195[5] = 0; + out_6761976484865444195[6] = 0; + out_6761976484865444195[7] = 0; + out_6761976484865444195[8] = 0; + out_6761976484865444195[9] = 0; + out_6761976484865444195[10] = 0; + out_6761976484865444195[11] = 0; + out_6761976484865444195[12] = 0; + out_6761976484865444195[13] = 0; + out_6761976484865444195[14] = 0; + out_6761976484865444195[15] = 0; + out_6761976484865444195[16] = 0; + out_6761976484865444195[17] = 0; + out_6761976484865444195[18] = 0; + out_6761976484865444195[19] = 0; + out_6761976484865444195[20] = 0; + out_6761976484865444195[21] = 0; + out_6761976484865444195[22] = 1; + out_6761976484865444195[23] = 0; + out_6761976484865444195[24] = 0; + out_6761976484865444195[25] = 0; + out_6761976484865444195[26] = 0; + out_6761976484865444195[27] = 0; + out_6761976484865444195[28] = 0; + out_6761976484865444195[29] = 0; + out_6761976484865444195[30] = 0; + out_6761976484865444195[31] = 0; + out_6761976484865444195[32] = 0; + out_6761976484865444195[33] = 0; + out_6761976484865444195[34] = 0; + out_6761976484865444195[35] = 0; + out_6761976484865444195[36] = 0; + out_6761976484865444195[37] = 0; + out_6761976484865444195[38] = 0; + out_6761976484865444195[39] = 0; + out_6761976484865444195[40] = 0; + out_6761976484865444195[41] = 1; + out_6761976484865444195[42] = 0; + out_6761976484865444195[43] = 0; + out_6761976484865444195[44] = 0; + out_6761976484865444195[45] = 0; + out_6761976484865444195[46] = 0; + out_6761976484865444195[47] = 0; + out_6761976484865444195[48] = 0; + out_6761976484865444195[49] = 0; + out_6761976484865444195[50] = 0; + out_6761976484865444195[51] = 0; + out_6761976484865444195[52] = 0; + out_6761976484865444195[53] = 0; } -void h_14(double *state, double *unused, double *out_7751194400543680936) { - out_7751194400543680936[0] = state[6]; - out_7751194400543680936[1] = state[7]; - out_7751194400543680936[2] = state[8]; +void h_14(double *state, double *unused, double *out_7233663736752442507) { + out_7233663736752442507[0] = state[6]; + out_7233663736752442507[1] = state[7]; + out_7233663736752442507[2] = state[8]; } -void H_14(double *state, double *unused, double *out_1936501400914425411) { - out_1936501400914425411[0] = 0; - out_1936501400914425411[1] = 0; - out_1936501400914425411[2] = 0; - out_1936501400914425411[3] = 0; - out_1936501400914425411[4] = 0; - out_1936501400914425411[5] = 0; - out_1936501400914425411[6] = 1; - out_1936501400914425411[7] = 0; - out_1936501400914425411[8] = 0; - out_1936501400914425411[9] = 0; - out_1936501400914425411[10] = 0; - out_1936501400914425411[11] = 0; - out_1936501400914425411[12] = 0; - out_1936501400914425411[13] = 0; - out_1936501400914425411[14] = 0; - out_1936501400914425411[15] = 0; - out_1936501400914425411[16] = 0; - out_1936501400914425411[17] = 0; - out_1936501400914425411[18] = 0; - out_1936501400914425411[19] = 0; - out_1936501400914425411[20] = 0; - out_1936501400914425411[21] = 0; - out_1936501400914425411[22] = 0; - out_1936501400914425411[23] = 0; - out_1936501400914425411[24] = 0; - out_1936501400914425411[25] = 1; - out_1936501400914425411[26] = 0; - out_1936501400914425411[27] = 0; - out_1936501400914425411[28] = 0; - out_1936501400914425411[29] = 0; - out_1936501400914425411[30] = 0; - out_1936501400914425411[31] = 0; - out_1936501400914425411[32] = 0; - out_1936501400914425411[33] = 0; - out_1936501400914425411[34] = 0; - out_1936501400914425411[35] = 0; - out_1936501400914425411[36] = 0; - out_1936501400914425411[37] = 0; - out_1936501400914425411[38] = 0; - out_1936501400914425411[39] = 0; - out_1936501400914425411[40] = 0; - out_1936501400914425411[41] = 0; - out_1936501400914425411[42] = 0; - out_1936501400914425411[43] = 0; - out_1936501400914425411[44] = 1; - out_1936501400914425411[45] = 0; - out_1936501400914425411[46] = 0; - out_1936501400914425411[47] = 0; - out_1936501400914425411[48] = 0; - out_1936501400914425411[49] = 0; - out_1936501400914425411[50] = 0; - out_1936501400914425411[51] = 0; - out_1936501400914425411[52] = 0; - out_1936501400914425411[53] = 0; +void H_14(double *state, double *unused, double *out_3114586132888227795) { + out_3114586132888227795[0] = 0; + out_3114586132888227795[1] = 0; + out_3114586132888227795[2] = 0; + out_3114586132888227795[3] = 0; + out_3114586132888227795[4] = 0; + out_3114586132888227795[5] = 0; + out_3114586132888227795[6] = 1; + out_3114586132888227795[7] = 0; + out_3114586132888227795[8] = 0; + out_3114586132888227795[9] = 0; + out_3114586132888227795[10] = 0; + out_3114586132888227795[11] = 0; + out_3114586132888227795[12] = 0; + out_3114586132888227795[13] = 0; + out_3114586132888227795[14] = 0; + out_3114586132888227795[15] = 0; + out_3114586132888227795[16] = 0; + out_3114586132888227795[17] = 0; + out_3114586132888227795[18] = 0; + out_3114586132888227795[19] = 0; + out_3114586132888227795[20] = 0; + out_3114586132888227795[21] = 0; + out_3114586132888227795[22] = 0; + out_3114586132888227795[23] = 0; + out_3114586132888227795[24] = 0; + out_3114586132888227795[25] = 1; + out_3114586132888227795[26] = 0; + out_3114586132888227795[27] = 0; + out_3114586132888227795[28] = 0; + out_3114586132888227795[29] = 0; + out_3114586132888227795[30] = 0; + out_3114586132888227795[31] = 0; + out_3114586132888227795[32] = 0; + out_3114586132888227795[33] = 0; + out_3114586132888227795[34] = 0; + out_3114586132888227795[35] = 0; + out_3114586132888227795[36] = 0; + out_3114586132888227795[37] = 0; + out_3114586132888227795[38] = 0; + out_3114586132888227795[39] = 0; + out_3114586132888227795[40] = 0; + out_3114586132888227795[41] = 0; + out_3114586132888227795[42] = 0; + out_3114586132888227795[43] = 0; + out_3114586132888227795[44] = 1; + out_3114586132888227795[45] = 0; + out_3114586132888227795[46] = 0; + out_3114586132888227795[47] = 0; + out_3114586132888227795[48] = 0; + out_3114586132888227795[49] = 0; + out_3114586132888227795[50] = 0; + out_3114586132888227795[51] = 0; + out_3114586132888227795[52] = 0; + out_3114586132888227795[53] = 0; } #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_5522943408677507622) { - err_fun(nom_x, delta_x, out_5522943408677507622); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818) { + err_fun(nom_x, delta_x, out_8123935570106658818); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4295983432349839383) { - inv_err_fun(nom_x, true_x, out_4295983432349839383); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670) { + inv_err_fun(nom_x, true_x, out_7916605304970807670); } -void pose_H_mod_fun(double *state, double *out_4346696932482416909) { - H_mod_fun(state, out_4346696932482416909); +void pose_H_mod_fun(double *state, double *out_1602815725505969341) { + H_mod_fun(state, out_1602815725505969341); } -void pose_f_fun(double *state, double dt, double *out_6102158893978946471) { - f_fun(state, dt, out_6102158893978946471); +void pose_f_fun(double *state, double dt, double *out_6941148323357631663) { + f_fun(state, dt, out_6941148323357631663); } -void pose_F_fun(double *state, double dt, double *out_2499898042682651457) { - F_fun(state, dt, out_2499898042682651457); +void pose_F_fun(double *state, double dt, double *out_8174317485626071951) { + F_fun(state, dt, out_8174317485626071951); } -void pose_h_4(double *state, double *unused, double *out_3279047988568344132) { - h_4(state, unused, out_3279047988568344132); +void pose_h_4(double *state, double *unused, double *out_5523365294760256360) { + h_4(state, unused, out_5523365294760256360); } -void pose_H_4(double *state, double *unused, double *out_5899742257253909940) { - H_4(state, unused, out_5899742257253909940); +void pose_H_4(double *state, double *unused, double *out_848654723451256734) { + H_4(state, unused, out_848654723451256734); } -void pose_h_10(double *state, double *unused, double *out_9007933995216703840) { - h_10(state, unused, out_9007933995216703840); +void pose_h_10(double *state, double *unused, double *out_1239079208898706284) { + h_10(state, unused, out_1239079208898706284); } -void pose_H_10(double *state, double *unused, double *out_2326992144684427807) { - H_10(state, unused, out_2326992144684427807); +void pose_H_10(double *state, double *unused, double *out_1001724707531765931) { + H_10(state, unused, out_1001724707531765931); } -void pose_h_13(double *state, double *unused, double *out_8858214994014047499) { - h_13(state, unused, out_8858214994014047499); +void pose_h_13(double *state, double *unused, double *out_7307670055393162069) { + h_13(state, unused, out_7307670055393162069); } -void pose_H_13(double *state, double *unused, double *out_1710888951062790989) { - H_13(state, unused, out_1710888951062790989); +void pose_H_13(double *state, double *unused, double *out_6761976484865444195) { + H_13(state, unused, out_6761976484865444195); } -void pose_h_14(double *state, double *unused, double *out_7751194400543680936) { - h_14(state, unused, out_7751194400543680936); +void pose_h_14(double *state, double *unused, double *out_7233663736752442507) { + h_14(state, unused, out_7233663736752442507); } -void pose_H_14(double *state, double *unused, double *out_1936501400914425411) { - H_14(state, unused, out_1936501400914425411); +void pose_H_14(double *state, double *unused, double *out_3114586132888227795) { + H_14(state, unused, out_3114586132888227795); } 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 94abaca9c..2d40ef84f 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_5522943408677507622); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4295983432349839383); -void pose_H_mod_fun(double *state, double *out_4346696932482416909); -void pose_f_fun(double *state, double dt, double *out_6102158893978946471); -void pose_F_fun(double *state, double dt, double *out_2499898042682651457); -void pose_h_4(double *state, double *unused, double *out_3279047988568344132); -void pose_H_4(double *state, double *unused, double *out_5899742257253909940); -void pose_h_10(double *state, double *unused, double *out_9007933995216703840); -void pose_H_10(double *state, double *unused, double *out_2326992144684427807); -void pose_h_13(double *state, double *unused, double *out_8858214994014047499); -void pose_H_13(double *state, double *unused, double *out_1710888951062790989); -void pose_h_14(double *state, double *unused, double *out_7751194400543680936); -void pose_H_14(double *state, double *unused, double *out_1936501400914425411); +void pose_err_fun(double *nom_x, double *delta_x, double *out_8123935570106658818); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7916605304970807670); +void pose_H_mod_fun(double *state, double *out_1602815725505969341); +void pose_f_fun(double *state, double dt, double *out_6941148323357631663); +void pose_F_fun(double *state, double dt, double *out_8174317485626071951); +void pose_h_4(double *state, double *unused, double *out_5523365294760256360); +void pose_H_4(double *state, double *unused, double *out_848654723451256734); +void pose_h_10(double *state, double *unused, double *out_1239079208898706284); +void pose_H_10(double *state, double *unused, double *out_1001724707531765931); +void pose_h_13(double *state, double *unused, double *out_7307670055393162069); +void pose_H_13(double *state, double *unused, double *out_6761976484865444195); +void pose_h_14(double *state, double *unused, double *out_7233663736752442507); +void pose_H_14(double *state, double *unused, double *out_3114586132888227795); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad index 681dd3698..b0098126c 100755 Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 77bc934d6..1bdc16d05 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ