From fccd46fef5db18b77e90fc32af8362f20fa1af56 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Thu, 16 Jul 2026 23:54:08 -0500 Subject: [PATCH] build --- panda/board/obj/body_h7.bin.signed | Bin 95500 -> 95500 bytes panda/board/obj/body_h7/bootstub.elf | Bin 112692 -> 112692 bytes panda/board/obj/body_h7/main.bin | Bin 95364 -> 95364 bytes panda/board/obj/body_h7/main.elf | Bin 417472 -> 417472 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12644 -> 12644 bytes panda/board/obj/bootstub.panda.bin | Bin 11068 -> 11068 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18784 -> 18784 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18784 -> 18784 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18784 -> 18784 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18784 -> 18784 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18784 -> 18784 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11068 -> 11068 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/bootstub.panda_jungle_h7.bin | Bin 13956 -> 13956 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11068 -> 11068 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11068 -> 11068 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 85280 -> 85280 bytes panda/board/obj/panda/bootstub.elf | Bin 100760 -> 100760 bytes panda/board/obj/panda/main.bin | Bin 85144 -> 85144 bytes panda/board/obj/panda/main.elf | Bin 377948 -> 377948 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 85260 -> 85260 bytes .../obj/panda_can_ignition_only/bootstub.elf | Bin 100780 -> 100780 bytes .../obj/panda_can_ignition_only/main.bin | Bin 85124 -> 85124 bytes .../obj/panda_can_ignition_only/main.elf | Bin 377776 -> 377776 bytes panda/board/obj/panda_h7.bin.signed | Bin 103488 -> 103488 bytes panda/board/obj/panda_h7/bootstub.elf | Bin 152728 -> 152728 bytes panda/board/obj/panda_h7/main.bin | Bin 103352 -> 103352 bytes panda/board/obj/panda_h7/main.elf | Bin 460832 -> 460832 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 103468 -> 103468 bytes .../panda_h7_can_ignition_only/bootstub.elf | Bin 152748 -> 152748 bytes .../obj/panda_h7_can_ignition_only/main.bin | Bin 103332 -> 103332 bytes .../obj/panda_h7_can_ignition_only/main.elf | Bin 460676 -> 460676 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 103584 -> 103584 bytes .../obj/panda_h7_hkg_remote/bootstub.elf | Bin 152740 -> 152740 bytes panda/board/obj/panda_h7_hkg_remote/main.bin | Bin 103448 -> 103448 bytes panda/board/obj/panda_h7_hkg_remote/main.elf | Bin 461272 -> 461272 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 103576 -> 103576 bytes .../bootstub.elf | Bin 152760 -> 152760 bytes .../main.bin | Bin 103440 -> 103440 bytes .../main.elf | Bin 461136 -> 461136 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 103424 -> 103424 bytes panda/board/obj/panda_h7_remote/bootstub.elf | Bin 152736 -> 152736 bytes panda/board/obj/panda_h7_remote/main.bin | Bin 103288 -> 103288 bytes panda/board/obj/panda_h7_remote/main.elf | Bin 460776 -> 460776 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 103404 -> 103404 bytes .../bootstub.elf | Bin 152756 -> 152756 bytes .../main.bin | Bin 103268 -> 103268 bytes .../main.elf | Bin 460612 -> 460612 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 85380 -> 85380 bytes panda/board/obj/panda_hkg_remote/bootstub.elf | Bin 100772 -> 100772 bytes panda/board/obj/panda_hkg_remote/main.bin | Bin 85244 -> 85244 bytes panda/board/obj/panda_hkg_remote/main.elf | Bin 378356 -> 378356 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 85372 -> 85372 bytes .../bootstub.elf | Bin 100792 -> 100792 bytes .../main.bin | Bin 85236 -> 85236 bytes .../main.elf | Bin 378224 -> 378224 bytes panda/board/obj/panda_jungle_h7.bin.signed | Bin 97444 -> 97444 bytes panda/board/obj/panda_jungle_h7/bootstub.elf | Bin 123936 -> 123936 bytes panda/board/obj/panda_jungle_h7/main.bin | Bin 97308 -> 97308 bytes panda/board/obj/panda_jungle_h7/main.elf | Bin 421304 -> 421304 bytes panda/board/obj/panda_remote.bin.signed | Bin 85240 -> 85240 bytes panda/board/obj/panda_remote/bootstub.elf | Bin 100768 -> 100768 bytes panda/board/obj/panda_remote/main.bin | Bin 85104 -> 85104 bytes panda/board/obj/panda_remote/main.elf | Bin 378040 -> 378040 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 85220 -> 85220 bytes .../bootstub.elf | Bin 100788 -> 100788 bytes .../panda_remote_can_ignition_only/main.bin | Bin 85084 -> 85084 bytes .../panda_remote_can_ignition_only/main.elf | Bin 377880 -> 377880 bytes panda/board/obj/version | 2 +- selfdrive/locationd/models/generated/car.cpp | 684 +++--- selfdrive/locationd/models/generated/car.h | 42 +- selfdrive/locationd/models/generated/pose.cpp | 1938 ++++++++--------- selfdrive/locationd/models/generated/pose.h | 26 +- selfdrive/ui/ui | Bin 4475992 -> 4476272 bytes 77 files changed, 1347 insertions(+), 1347 deletions(-) diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index c6bb8c912624cd5fdbca40f0d03ad511f6dcee62..b94ef0810eafebb1373ef5138f11bf5e792f852a 100644 GIT binary patch delta 153 zcmV;K0A~M;>IIDI1+X~F2r)P|Gcq+fVY5KXOsRhZGfi@enLap_zeR&DR delta 153 zcmV;K0A~M;>IIDI1+X~F2r^2>pbNe@@(%&?@zcF9g9zF}k ziJ)xo`luTW8*Es=8*FKb6mXSi{N&;5hzFlcT^H}`8bg9H&ERMh_o=(AGRVV)6m=+} ziz~IVkpbJ9k6)+TZTk90O&O#ilj&0;wJI4DEx;s(3I<8#f)Ach$~@E#8lb=wgX=~s HLz)2}+`&fW diff --git a/panda/board/obj/body_h7/bootstub.elf b/panda/board/obj/body_h7/bootstub.elf index 2b5490e94c15b881717ea6ab93fbd33417ebeb19..bb28aec43a6f4040a45e6a1c9d37339d4c9d739b 100755 GIT binary patch delta 27 jcmdn;fo;nNwhgW}9EKKV#zv-=iOs$?+kI^qpH~9_m46Bl delta 27 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a/panda/board/obj/bootstub.panda_can_ignition_only.bin b/panda/board/obj/bootstub.panda_can_ignition_only.bin index dc65ffc6077c236d542db16dab5dfa7448b8e33b..986dde12eeac0dc0edf0b5c4efceb75afbbc7e36 100755 GIT binary patch delta 34 qcmdlJwkK?ZubQBtg_*IDsb!+Bi>p(pJ3|A*Zo9oo}u>b(VMGC?I delta 34 qcmdlJwkK?ZubN=0rHOHhQDT~|i>p(pJ3|A*Zo9oo}u>b(i0t-<9 diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 64fa48fc6295f6fb1d4e335277bfc466f275efe0..1c340b0c69a5b5714b25a1eebf81de6dc42f2cc1 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9EKKV#zv-=iJK=npJxRCZny}U delta 23 fcmaDbiSfZC#tog$9I2Kj#wkXLX`3fHpJxRCbTSDj diff --git a/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_can_ignition_only.bin index 64fa48fc6295f6fb1d4e335277bfc466f275efe0..1c340b0c69a5b5714b25a1eebf81de6dc42f2cc1 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9EKKV#zv-=iJK=npJxRCZny}U delta 23 fcmaDbiSfZC#tog$9I2Kj#wkXLX`3fHpJxRCbTSDj diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote.bin index 64fa48fc6295f6fb1d4e335277bfc466f275efe0..1c340b0c69a5b5714b25a1eebf81de6dc42f2cc1 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9EKKV#zv-=iJK=npJxRCZny}U delta 23 fcmaDbiSfZC#tog$9I2Kj#wkXLX`3fHpJxRCbTSDj diff --git a/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_hkg_remote_can_ignition_only.bin index 64fa48fc6295f6fb1d4e335277bfc466f275efe0..1c340b0c69a5b5714b25a1eebf81de6dc42f2cc1 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9EKKV#zv-=iJK=npJxRCZny}U delta 23 fcmaDbiSfZC#tog$9I2Kj#wkXLX`3fHpJxRCbTSDj diff --git a/panda/board/obj/bootstub.panda_h7_remote.bin b/panda/board/obj/bootstub.panda_h7_remote.bin index 64fa48fc6295f6fb1d4e335277bfc466f275efe0..1c340b0c69a5b5714b25a1eebf81de6dc42f2cc1 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9EKKV#zv-=iJK=npJxRCZny}U delta 23 fcmaDbiSfZC#tog$9I2Kj#wkXLX`3fHpJxRCbTSDj diff --git a/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_h7_remote_can_ignition_only.bin index 64fa48fc6295f6fb1d4e335277bfc466f275efe0..1c340b0c69a5b5714b25a1eebf81de6dc42f2cc1 100755 GIT binary patch delta 23 fcmaDbiSfZC#tog$9EKKV#zv-=iJK=npJxRCZny}U delta 23 fcmaDbiSfZC#tog$9I2Kj#wkXLX`3fHpJxRCbTSDj diff --git a/panda/board/obj/bootstub.panda_hkg_remote.bin b/panda/board/obj/bootstub.panda_hkg_remote.bin index dc65ffc6077c236d542db16dab5dfa7448b8e33b..986dde12eeac0dc0edf0b5c4efceb75afbbc7e36 100755 GIT binary patch delta 34 qcmdlJwkK?ZubQBtg_*IDsb!+Bi>p(pJ3|A*Zo9oo}u>b(VMGC?I delta 34 qcmdlJwkK?ZubN=0rHOHhQDT~|i>p(pJ3|A*Zo9oo}u>b(i0t-<9 diff --git a/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin b/panda/board/obj/bootstub.panda_hkg_remote_can_ignition_only.bin index dc65ffc6077c236d542db16dab5dfa7448b8e33b..986dde12eeac0dc0edf0b5c4efceb75afbbc7e36 100755 GIT binary patch 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dc65ffc6077c236d542db16dab5dfa7448b8e33b..986dde12eeac0dc0edf0b5c4efceb75afbbc7e36 100755 GIT binary patch delta 34 qcmdlJwkK?ZubQBtg_*IDsb!+Bi>p(pJ3|A*Zo9oo}u>b(VMGC?I delta 34 qcmdlJwkK?ZubN=0rHOHhQDT~|i>p(pJ3|A*Zo9oo}u>b(i0t-<9 diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 8a2e5f7f1..7c24bb2c0 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1,2 +1,2 @@ extern const uint8_t gitversion[19]; -const uint8_t gitversion[19] = "DEV-2b065db2-DEBUG"; +const uint8_t gitversion[19] = "DEV-1863259a-DEBUG"; diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 6004a6da6401b44ceb7fb8bdb668b64cf843d39b..469b8ddb12eccbe1ab66ad9b780696a3e728bf81 100644 GIT binary patch delta 153 zcmV;K0A~N7ngyVm1+dJw2r)P|Gcq+fVYAe?%#?q&@$$ptTReP26DmVG<0qQ+b>~tH zDCp|inift|!M z*N`CsFgk@g!fG6}3VV`Ru!&=gq9RyL6O!$j)UscHh!$QnC8mvT2aYTjd+d3j4s>f5 HKga@KWH4d!RZ&DUy9-JO 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zcmV;K0A~N>nFZvT1+b8}2r)P|Gcq+fVY8UG%#?o*M)60$8SA1tLl+!-JtUa8=HQm_ zVy$@Fd;FVa5e0K<%^%@X?HPK~(1Ty~LQA6)5RKhtI51?a&ip=5kXvj}ghURfqGi8q z(moQvuE}AC!RUCGDlJrzP3}-DXJtm&5KY`>JGOoEWXg;B`jIK?-P*0oX%(B(R3PyU Heh&fW0bolh delta 153 zcmV;K0A~N>nFZvT1+b8}2r^2C@n$BGTSN?) z*dG5P8=Og&#v+3FC|drSC(k9N?=74$WEAl}00#pMYXATM delta 40 wcmdlonQhBtwhg{!f~l4!#wkXLX}T`1PND7$4GfbfnkqEcnQgB#V>Al}02TZU`Tzg` diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.bin b/panda/board/obj/panda_remote_can_ignition_only/main.bin index d0aedc78132388c1afaa7fafb44fc7162d02f622..2547de08a6299c41ea7bc8dd3f31735aa7e0acd5 100755 GIT binary patch delta 23 fcmcaJgZ0h~)(sQ3a~N8f85@~eCT^aw{m2vmc*_bO delta 23 fcmcaJgZ0h~)(sQ3a~LHVn3<*|8Eu}i{m2vmd_)R! diff --git a/panda/board/obj/panda_remote_can_ignition_only/main.elf b/panda/board/obj/panda_remote_can_ignition_only/main.elf index 28d74913d48043feec442cb602bd63e70f082274..38c705cdb3fb2522de035a5f7695d988c1664fd2 100755 GIT binary patch delta 39 scmbQyAwHu+e8Ys}9EKKV#zv-=iOn;Px6e4v2*gZ4%)EWZah8TZ07S|WfdBvi delta 39 scmbQyAwHu+e8Ys}97ah7W~M1gM$I#hx6e4v2*gZ4%)EWZah8TZ08N7t)c^nh diff --git a/panda/board/obj/version b/panda/board/obj/version index adc4fbe93..737ff43ac 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-2b065db2-DEBUG \ No newline at end of file +DEV-1863259a-DEBUG \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 31acc5e69..956d901b1 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_5469727734415202139) { - out_5469727734415202139[0] = delta_x[0] + nom_x[0]; - out_5469727734415202139[1] = delta_x[1] + nom_x[1]; - out_5469727734415202139[2] = delta_x[2] + nom_x[2]; - out_5469727734415202139[3] = delta_x[3] + nom_x[3]; - out_5469727734415202139[4] = delta_x[4] + nom_x[4]; - out_5469727734415202139[5] = delta_x[5] + nom_x[5]; - out_5469727734415202139[6] = delta_x[6] + nom_x[6]; - out_5469727734415202139[7] = delta_x[7] + nom_x[7]; - out_5469727734415202139[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_8452016858633359142) { + out_8452016858633359142[0] = delta_x[0] + nom_x[0]; + out_8452016858633359142[1] = delta_x[1] + nom_x[1]; + out_8452016858633359142[2] = delta_x[2] + nom_x[2]; + out_8452016858633359142[3] = delta_x[3] + nom_x[3]; + out_8452016858633359142[4] = delta_x[4] + nom_x[4]; + out_8452016858633359142[5] = delta_x[5] + nom_x[5]; + out_8452016858633359142[6] = delta_x[6] + nom_x[6]; + out_8452016858633359142[7] = delta_x[7] + nom_x[7]; + out_8452016858633359142[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510) { - out_9043415007849521510[0] = -nom_x[0] + true_x[0]; - out_9043415007849521510[1] = -nom_x[1] + true_x[1]; - out_9043415007849521510[2] = -nom_x[2] + true_x[2]; - out_9043415007849521510[3] = -nom_x[3] + true_x[3]; - out_9043415007849521510[4] = -nom_x[4] + true_x[4]; - out_9043415007849521510[5] = -nom_x[5] + true_x[5]; - out_9043415007849521510[6] = -nom_x[6] + true_x[6]; - out_9043415007849521510[7] = -nom_x[7] + true_x[7]; - out_9043415007849521510[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_6091261500618765150) { + out_6091261500618765150[0] = -nom_x[0] + true_x[0]; + out_6091261500618765150[1] = -nom_x[1] + true_x[1]; + out_6091261500618765150[2] = -nom_x[2] + true_x[2]; + out_6091261500618765150[3] = -nom_x[3] + true_x[3]; + out_6091261500618765150[4] = -nom_x[4] + true_x[4]; + out_6091261500618765150[5] = -nom_x[5] + true_x[5]; + out_6091261500618765150[6] = -nom_x[6] + true_x[6]; + out_6091261500618765150[7] = -nom_x[7] + true_x[7]; + out_6091261500618765150[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3975286947566256014) { - out_3975286947566256014[0] = 1.0; - out_3975286947566256014[1] = 0.0; - out_3975286947566256014[2] = 0.0; - out_3975286947566256014[3] = 0.0; - out_3975286947566256014[4] = 0.0; - out_3975286947566256014[5] = 0.0; - out_3975286947566256014[6] = 0.0; - out_3975286947566256014[7] = 0.0; - out_3975286947566256014[8] = 0.0; - out_3975286947566256014[9] = 0.0; - out_3975286947566256014[10] = 1.0; - out_3975286947566256014[11] = 0.0; - out_3975286947566256014[12] = 0.0; - out_3975286947566256014[13] = 0.0; - out_3975286947566256014[14] = 0.0; - out_3975286947566256014[15] = 0.0; - out_3975286947566256014[16] = 0.0; - out_3975286947566256014[17] = 0.0; - out_3975286947566256014[18] = 0.0; - out_3975286947566256014[19] = 0.0; - out_3975286947566256014[20] = 1.0; - out_3975286947566256014[21] = 0.0; - out_3975286947566256014[22] = 0.0; - out_3975286947566256014[23] = 0.0; - out_3975286947566256014[24] = 0.0; - out_3975286947566256014[25] = 0.0; - out_3975286947566256014[26] = 0.0; - out_3975286947566256014[27] = 0.0; - out_3975286947566256014[28] = 0.0; - out_3975286947566256014[29] = 0.0; - out_3975286947566256014[30] = 1.0; - out_3975286947566256014[31] = 0.0; - out_3975286947566256014[32] = 0.0; - out_3975286947566256014[33] = 0.0; - out_3975286947566256014[34] = 0.0; - out_3975286947566256014[35] = 0.0; - out_3975286947566256014[36] = 0.0; - out_3975286947566256014[37] = 0.0; - out_3975286947566256014[38] = 0.0; - out_3975286947566256014[39] = 0.0; - out_3975286947566256014[40] = 1.0; - out_3975286947566256014[41] = 0.0; - out_3975286947566256014[42] = 0.0; - out_3975286947566256014[43] = 0.0; - out_3975286947566256014[44] = 0.0; - out_3975286947566256014[45] = 0.0; - out_3975286947566256014[46] = 0.0; - out_3975286947566256014[47] = 0.0; - out_3975286947566256014[48] = 0.0; - out_3975286947566256014[49] = 0.0; - out_3975286947566256014[50] = 1.0; - out_3975286947566256014[51] = 0.0; - out_3975286947566256014[52] = 0.0; - out_3975286947566256014[53] = 0.0; - out_3975286947566256014[54] = 0.0; - out_3975286947566256014[55] = 0.0; - out_3975286947566256014[56] = 0.0; - out_3975286947566256014[57] = 0.0; - out_3975286947566256014[58] = 0.0; - out_3975286947566256014[59] = 0.0; - out_3975286947566256014[60] = 1.0; - out_3975286947566256014[61] = 0.0; - out_3975286947566256014[62] = 0.0; - out_3975286947566256014[63] = 0.0; - out_3975286947566256014[64] = 0.0; - out_3975286947566256014[65] = 0.0; - out_3975286947566256014[66] = 0.0; - out_3975286947566256014[67] = 0.0; - out_3975286947566256014[68] = 0.0; - out_3975286947566256014[69] = 0.0; - out_3975286947566256014[70] = 1.0; - out_3975286947566256014[71] = 0.0; - out_3975286947566256014[72] = 0.0; - out_3975286947566256014[73] = 0.0; - out_3975286947566256014[74] = 0.0; - out_3975286947566256014[75] = 0.0; - out_3975286947566256014[76] = 0.0; - out_3975286947566256014[77] = 0.0; - out_3975286947566256014[78] = 0.0; - out_3975286947566256014[79] = 0.0; - out_3975286947566256014[80] = 1.0; +void H_mod_fun(double *state, double *out_38657891020581010) { + out_38657891020581010[0] = 1.0; + out_38657891020581010[1] = 0.0; + out_38657891020581010[2] = 0.0; + out_38657891020581010[3] = 0.0; + out_38657891020581010[4] = 0.0; + out_38657891020581010[5] = 0.0; + out_38657891020581010[6] = 0.0; + out_38657891020581010[7] = 0.0; + out_38657891020581010[8] = 0.0; + out_38657891020581010[9] = 0.0; + out_38657891020581010[10] = 1.0; + out_38657891020581010[11] = 0.0; + out_38657891020581010[12] = 0.0; + out_38657891020581010[13] = 0.0; + out_38657891020581010[14] = 0.0; + out_38657891020581010[15] = 0.0; + out_38657891020581010[16] = 0.0; + out_38657891020581010[17] = 0.0; + out_38657891020581010[18] = 0.0; + out_38657891020581010[19] = 0.0; + out_38657891020581010[20] = 1.0; + out_38657891020581010[21] = 0.0; + out_38657891020581010[22] = 0.0; + out_38657891020581010[23] = 0.0; + out_38657891020581010[24] = 0.0; + out_38657891020581010[25] = 0.0; + out_38657891020581010[26] = 0.0; + out_38657891020581010[27] = 0.0; + out_38657891020581010[28] = 0.0; + out_38657891020581010[29] = 0.0; + out_38657891020581010[30] = 1.0; + out_38657891020581010[31] = 0.0; + out_38657891020581010[32] = 0.0; + out_38657891020581010[33] = 0.0; + out_38657891020581010[34] = 0.0; + out_38657891020581010[35] = 0.0; + out_38657891020581010[36] = 0.0; + out_38657891020581010[37] = 0.0; + out_38657891020581010[38] = 0.0; + out_38657891020581010[39] = 0.0; + out_38657891020581010[40] = 1.0; + out_38657891020581010[41] = 0.0; + out_38657891020581010[42] = 0.0; + out_38657891020581010[43] = 0.0; + out_38657891020581010[44] = 0.0; + out_38657891020581010[45] = 0.0; + out_38657891020581010[46] = 0.0; + out_38657891020581010[47] = 0.0; + out_38657891020581010[48] = 0.0; + out_38657891020581010[49] = 0.0; + out_38657891020581010[50] = 1.0; + out_38657891020581010[51] = 0.0; + out_38657891020581010[52] = 0.0; + out_38657891020581010[53] = 0.0; + out_38657891020581010[54] = 0.0; + out_38657891020581010[55] = 0.0; + out_38657891020581010[56] = 0.0; + out_38657891020581010[57] = 0.0; + out_38657891020581010[58] = 0.0; + out_38657891020581010[59] = 0.0; + out_38657891020581010[60] = 1.0; + out_38657891020581010[61] = 0.0; + out_38657891020581010[62] = 0.0; + out_38657891020581010[63] = 0.0; + out_38657891020581010[64] = 0.0; + out_38657891020581010[65] = 0.0; + out_38657891020581010[66] = 0.0; + out_38657891020581010[67] = 0.0; + out_38657891020581010[68] = 0.0; + out_38657891020581010[69] = 0.0; + out_38657891020581010[70] = 1.0; + out_38657891020581010[71] = 0.0; + out_38657891020581010[72] = 0.0; + out_38657891020581010[73] = 0.0; + out_38657891020581010[74] = 0.0; + out_38657891020581010[75] = 0.0; + out_38657891020581010[76] = 0.0; + out_38657891020581010[77] = 0.0; + out_38657891020581010[78] = 0.0; + out_38657891020581010[79] = 0.0; + out_38657891020581010[80] = 1.0; } -void f_fun(double *state, double dt, double *out_1399233721380390552) { - out_1399233721380390552[0] = state[0]; - out_1399233721380390552[1] = state[1]; - out_1399233721380390552[2] = state[2]; - out_1399233721380390552[3] = state[3]; - out_1399233721380390552[4] = state[4]; - out_1399233721380390552[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_1399233721380390552[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_1399233721380390552[7] = state[7]; - out_1399233721380390552[8] = state[8]; +void f_fun(double *state, double dt, double *out_558885094687163216) { + out_558885094687163216[0] = state[0]; + out_558885094687163216[1] = state[1]; + out_558885094687163216[2] = state[2]; + out_558885094687163216[3] = state[3]; + out_558885094687163216[4] = state[4]; + out_558885094687163216[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_558885094687163216[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_558885094687163216[7] = state[7]; + out_558885094687163216[8] = state[8]; } -void F_fun(double *state, double dt, double *out_1547855628850571031) { - out_1547855628850571031[0] = 1; - out_1547855628850571031[1] = 0; - out_1547855628850571031[2] = 0; - out_1547855628850571031[3] = 0; - out_1547855628850571031[4] = 0; - out_1547855628850571031[5] = 0; - out_1547855628850571031[6] = 0; - out_1547855628850571031[7] = 0; - out_1547855628850571031[8] = 0; - out_1547855628850571031[9] = 0; - out_1547855628850571031[10] = 1; - out_1547855628850571031[11] = 0; - out_1547855628850571031[12] = 0; - out_1547855628850571031[13] = 0; - out_1547855628850571031[14] = 0; - out_1547855628850571031[15] = 0; - out_1547855628850571031[16] = 0; - out_1547855628850571031[17] = 0; - out_1547855628850571031[18] = 0; - out_1547855628850571031[19] = 0; - out_1547855628850571031[20] = 1; - out_1547855628850571031[21] = 0; - out_1547855628850571031[22] = 0; - out_1547855628850571031[23] = 0; - out_1547855628850571031[24] = 0; - out_1547855628850571031[25] = 0; - out_1547855628850571031[26] = 0; - out_1547855628850571031[27] = 0; - out_1547855628850571031[28] = 0; - out_1547855628850571031[29] = 0; - out_1547855628850571031[30] = 1; - out_1547855628850571031[31] = 0; - out_1547855628850571031[32] = 0; - out_1547855628850571031[33] = 0; - out_1547855628850571031[34] = 0; - out_1547855628850571031[35] = 0; - out_1547855628850571031[36] = 0; - out_1547855628850571031[37] = 0; - out_1547855628850571031[38] = 0; - out_1547855628850571031[39] = 0; - out_1547855628850571031[40] = 1; - out_1547855628850571031[41] = 0; - out_1547855628850571031[42] = 0; - out_1547855628850571031[43] = 0; - out_1547855628850571031[44] = 0; - out_1547855628850571031[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_1547855628850571031[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_1547855628850571031[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1547855628850571031[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_1547855628850571031[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_1547855628850571031[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_1547855628850571031[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_1547855628850571031[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_1547855628850571031[53] = -9.8100000000000005*dt; - out_1547855628850571031[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_1547855628850571031[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_1547855628850571031[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1547855628850571031[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1547855628850571031[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_1547855628850571031[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_1547855628850571031[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_1547855628850571031[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_1547855628850571031[62] = 0; - out_1547855628850571031[63] = 0; - out_1547855628850571031[64] = 0; - out_1547855628850571031[65] = 0; - out_1547855628850571031[66] = 0; - out_1547855628850571031[67] = 0; - out_1547855628850571031[68] = 0; - out_1547855628850571031[69] = 0; - out_1547855628850571031[70] = 1; - out_1547855628850571031[71] = 0; - out_1547855628850571031[72] = 0; - out_1547855628850571031[73] = 0; - out_1547855628850571031[74] = 0; - out_1547855628850571031[75] = 0; - out_1547855628850571031[76] = 0; - out_1547855628850571031[77] = 0; - out_1547855628850571031[78] = 0; - out_1547855628850571031[79] = 0; - out_1547855628850571031[80] = 1; +void F_fun(double *state, double dt, double *out_2583716049044893862) { + out_2583716049044893862[0] = 1; + out_2583716049044893862[1] = 0; + out_2583716049044893862[2] = 0; + out_2583716049044893862[3] = 0; + out_2583716049044893862[4] = 0; + out_2583716049044893862[5] = 0; + out_2583716049044893862[6] = 0; + out_2583716049044893862[7] = 0; + out_2583716049044893862[8] = 0; + out_2583716049044893862[9] = 0; + out_2583716049044893862[10] = 1; + out_2583716049044893862[11] = 0; + out_2583716049044893862[12] = 0; + out_2583716049044893862[13] = 0; + out_2583716049044893862[14] = 0; + out_2583716049044893862[15] = 0; + out_2583716049044893862[16] = 0; + out_2583716049044893862[17] = 0; + out_2583716049044893862[18] = 0; + out_2583716049044893862[19] = 0; + out_2583716049044893862[20] = 1; + out_2583716049044893862[21] = 0; + out_2583716049044893862[22] = 0; + out_2583716049044893862[23] = 0; + out_2583716049044893862[24] = 0; + out_2583716049044893862[25] = 0; + out_2583716049044893862[26] = 0; + out_2583716049044893862[27] = 0; + out_2583716049044893862[28] = 0; + out_2583716049044893862[29] = 0; + out_2583716049044893862[30] = 1; + out_2583716049044893862[31] = 0; + out_2583716049044893862[32] = 0; + out_2583716049044893862[33] = 0; + out_2583716049044893862[34] = 0; + out_2583716049044893862[35] = 0; + out_2583716049044893862[36] = 0; + out_2583716049044893862[37] = 0; + out_2583716049044893862[38] = 0; + out_2583716049044893862[39] = 0; + out_2583716049044893862[40] = 1; + out_2583716049044893862[41] = 0; + out_2583716049044893862[42] = 0; + out_2583716049044893862[43] = 0; + out_2583716049044893862[44] = 0; + out_2583716049044893862[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_2583716049044893862[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_2583716049044893862[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2583716049044893862[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_2583716049044893862[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_2583716049044893862[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_2583716049044893862[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_2583716049044893862[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_2583716049044893862[53] = -9.8100000000000005*dt; + out_2583716049044893862[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_2583716049044893862[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_2583716049044893862[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2583716049044893862[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2583716049044893862[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_2583716049044893862[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_2583716049044893862[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_2583716049044893862[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_2583716049044893862[62] = 0; + out_2583716049044893862[63] = 0; + out_2583716049044893862[64] = 0; + out_2583716049044893862[65] = 0; + out_2583716049044893862[66] = 0; + out_2583716049044893862[67] = 0; + out_2583716049044893862[68] = 0; + out_2583716049044893862[69] = 0; + out_2583716049044893862[70] = 1; + out_2583716049044893862[71] = 0; + out_2583716049044893862[72] = 0; + out_2583716049044893862[73] = 0; + out_2583716049044893862[74] = 0; + out_2583716049044893862[75] = 0; + out_2583716049044893862[76] = 0; + out_2583716049044893862[77] = 0; + out_2583716049044893862[78] = 0; + out_2583716049044893862[79] = 0; + out_2583716049044893862[80] = 1; } -void h_25(double *state, double *unused, double *out_4999223901660539793) { - out_4999223901660539793[0] = state[6]; +void h_25(double *state, double *unused, double *out_6863161802963304328) { + out_6863161802963304328[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5217901278345981223) { - out_5217901278345981223[0] = 0; - out_5217901278345981223[1] = 0; - out_5217901278345981223[2] = 0; - out_5217901278345981223[3] = 0; - out_5217901278345981223[4] = 0; - out_5217901278345981223[5] = 0; - out_5217901278345981223[6] = 1; - out_5217901278345981223[7] = 0; - out_5217901278345981223[8] = 0; +void H_25(double *state, double *unused, double *out_2872687221825540538) { + out_2872687221825540538[0] = 0; + out_2872687221825540538[1] = 0; + out_2872687221825540538[2] = 0; + out_2872687221825540538[3] = 0; + out_2872687221825540538[4] = 0; + out_2872687221825540538[5] = 0; + out_2872687221825540538[6] = 1; + out_2872687221825540538[7] = 0; + out_2872687221825540538[8] = 0; } -void h_24(double *state, double *unused, double *out_6882293632162622150) { - out_6882293632162622150[0] = state[4]; - out_6882293632162622150[1] = state[5]; +void h_24(double *state, double *unused, double *out_1110917950379322687) { + out_1110917950379322687[0] = state[4]; + out_1110917950379322687[1] = state[5]; } -void H_24(double *state, double *unused, double *out_1436304179762204534) { - out_1436304179762204534[0] = 0; - out_1436304179762204534[1] = 0; - out_1436304179762204534[2] = 0; - out_1436304179762204534[3] = 0; - out_1436304179762204534[4] = 1; - out_1436304179762204534[5] = 0; - out_1436304179762204534[6] = 0; - out_1436304179762204534[7] = 0; - out_1436304179762204534[8] = 0; - out_1436304179762204534[9] = 0; - out_1436304179762204534[10] = 0; - out_1436304179762204534[11] = 0; - out_1436304179762204534[12] = 0; - out_1436304179762204534[13] = 0; - out_1436304179762204534[14] = 1; - out_1436304179762204534[15] = 0; - out_1436304179762204534[16] = 0; - out_1436304179762204534[17] = 0; +void H_24(double *state, double *unused, double *out_4545704411851386355) { + out_4545704411851386355[0] = 0; + out_4545704411851386355[1] = 0; + out_4545704411851386355[2] = 0; + out_4545704411851386355[3] = 0; + out_4545704411851386355[4] = 1; + out_4545704411851386355[5] = 0; + out_4545704411851386355[6] = 0; + out_4545704411851386355[7] = 0; + out_4545704411851386355[8] = 0; + out_4545704411851386355[9] = 0; + out_4545704411851386355[10] = 0; + out_4545704411851386355[11] = 0; + out_4545704411851386355[12] = 0; + out_4545704411851386355[13] = 0; + out_4545704411851386355[14] = 1; + out_4545704411851386355[15] = 0; + out_4545704411851386355[16] = 0; + out_4545704411851386355[17] = 0; } -void h_30(double *state, double *unused, double *out_4724029839376033904) { - out_4724029839376033904[0] = state[4]; +void h_30(double *state, double *unused, double *out_3820317013925574847) { + out_3820317013925574847[0] = state[4]; } -void H_30(double *state, double *unused, double *out_8701146465235962195) { - out_8701146465235962195[0] = 0; - out_8701146465235962195[1] = 0; - out_8701146465235962195[2] = 0; - out_8701146465235962195[3] = 0; - out_8701146465235962195[4] = 1; - out_8701146465235962195[5] = 0; - out_8701146465235962195[6] = 0; - out_8701146465235962195[7] = 0; - out_8701146465235962195[8] = 0; +void H_30(double *state, double *unused, double *out_7400383551953148736) { + out_7400383551953148736[0] = 0; + out_7400383551953148736[1] = 0; + out_7400383551953148736[2] = 0; + out_7400383551953148736[3] = 0; + out_7400383551953148736[4] = 1; + out_7400383551953148736[5] = 0; + out_7400383551953148736[6] = 0; + out_7400383551953148736[7] = 0; + out_7400383551953148736[8] = 0; } -void h_26(double *state, double *unused, double *out_3556286038299892167) { - out_3556286038299892167[0] = state[7]; +void h_26(double *state, double *unused, double *out_3983562419870100788) { + out_3983562419870100788[0] = state[7]; } -void H_26(double *state, double *unused, double *out_8959404597220037447) { - out_8959404597220037447[0] = 0; - out_8959404597220037447[1] = 0; - out_8959404597220037447[2] = 0; - out_8959404597220037447[3] = 0; - out_8959404597220037447[4] = 0; - out_8959404597220037447[5] = 0; - out_8959404597220037447[6] = 0; - out_8959404597220037447[7] = 1; - out_8959404597220037447[8] = 0; +void H_26(double *state, double *unused, double *out_6614190540699596762) { + out_6614190540699596762[0] = 0; + out_6614190540699596762[1] = 0; + out_6614190540699596762[2] = 0; + out_6614190540699596762[3] = 0; + out_6614190540699596762[4] = 0; + out_6614190540699596762[5] = 0; + out_6614190540699596762[6] = 0; + out_6614190540699596762[7] = 1; + out_6614190540699596762[8] = 0; } -void h_27(double *state, double *unused, double *out_356357552238636072) { - out_356357552238636072[0] = state[3]; +void h_27(double *state, double *unused, double *out_70918829331572549) { + out_70918829331572549[0] = state[3]; } -void H_27(double *state, double *unused, double *out_7522003537289646204) { - out_7522003537289646204[0] = 0; - out_7522003537289646204[1] = 0; - out_7522003537289646204[2] = 0; - out_7522003537289646204[3] = 1; - out_7522003537289646204[4] = 0; - out_7522003537289646204[5] = 0; - out_7522003537289646204[6] = 0; - out_7522003537289646204[7] = 0; - out_7522003537289646204[8] = 0; +void H_27(double *state, double *unused, double *out_5176789480769205519) { + out_5176789480769205519[0] = 0; + out_5176789480769205519[1] = 0; + out_5176789480769205519[2] = 0; + out_5176789480769205519[3] = 1; + out_5176789480769205519[4] = 0; + out_5176789480769205519[5] = 0; + out_5176789480769205519[6] = 0; + out_5176789480769205519[7] = 0; + out_5176789480769205519[8] = 0; } -void h_29(double *state, double *unused, double *out_277643428284811741) { - out_277643428284811741[0] = state[1]; +void h_29(double *state, double *unused, double *out_4423632898602052364) { + out_4423632898602052364[0] = state[1]; } -void H_29(double *state, double *unused, double *out_9211377809550354379) { - out_9211377809550354379[0] = 0; - out_9211377809550354379[1] = 1; - out_9211377809550354379[2] = 0; - out_9211377809550354379[3] = 0; - out_9211377809550354379[4] = 0; - out_9211377809550354379[5] = 0; - out_9211377809550354379[6] = 0; - out_9211377809550354379[7] = 0; - out_9211377809550354379[8] = 0; +void H_29(double *state, double *unused, double *out_6890152207638756552) { + out_6890152207638756552[0] = 0; + out_6890152207638756552[1] = 1; + out_6890152207638756552[2] = 0; + out_6890152207638756552[3] = 0; + out_6890152207638756552[4] = 0; + out_6890152207638756552[5] = 0; + out_6890152207638756552[6] = 0; + out_6890152207638756552[7] = 0; + out_6890152207638756552[8] = 0; } -void h_28(double *state, double *unused, double *out_5358030819899481717) { - out_5358030819899481717[0] = state[0]; +void h_28(double *state, double *unused, double *out_3204928983415884040) { + out_3204928983415884040[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4128978792480823805) { - out_4128978792480823805[0] = 1; - out_4128978792480823805[1] = 0; - out_4128978792480823805[2] = 0; - out_4128978792480823805[3] = 0; - out_4128978792480823805[4] = 0; - out_4128978792480823805[5] = 0; - out_4128978792480823805[6] = 0; - out_4128978792480823805[7] = 0; - out_4128978792480823805[8] = 0; +void H_28(double *state, double *unused, double *out_4926521936073430301) { + out_4926521936073430301[0] = 1; + out_4926521936073430301[1] = 0; + out_4926521936073430301[2] = 0; + out_4926521936073430301[3] = 0; + out_4926521936073430301[4] = 0; + out_4926521936073430301[5] = 0; + out_4926521936073430301[6] = 0; + out_4926521936073430301[7] = 0; + out_4926521936073430301[8] = 0; } -void h_31(double *state, double *unused, double *out_2893715593223983566) { - out_2893715593223983566[0] = state[8]; +void h_31(double *state, double *unused, double *out_597396961285583997) { + out_597396961285583997[0] = state[8]; } -void H_31(double *state, double *unused, double *out_8861131374256162693) { - out_8861131374256162693[0] = 0; - out_8861131374256162693[1] = 0; - out_8861131374256162693[2] = 0; - out_8861131374256162693[3] = 0; - out_8861131374256162693[4] = 0; - out_8861131374256162693[5] = 0; - out_8861131374256162693[6] = 0; - out_8861131374256162693[7] = 0; - out_8861131374256162693[8] = 1; +void H_31(double *state, double *unused, double *out_2842041259948580110) { + out_2842041259948580110[0] = 0; + out_2842041259948580110[1] = 0; + out_2842041259948580110[2] = 0; + out_2842041259948580110[3] = 0; + out_2842041259948580110[4] = 0; + out_2842041259948580110[5] = 0; + out_2842041259948580110[6] = 0; + out_2842041259948580110[7] = 0; + out_2842041259948580110[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_5469727734415202139) { - err_fun(nom_x, delta_x, out_5469727734415202139); +void car_err_fun(double *nom_x, double *delta_x, double *out_8452016858633359142) { + err_fun(nom_x, delta_x, out_8452016858633359142); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510) { - inv_err_fun(nom_x, true_x, out_9043415007849521510); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6091261500618765150) { + inv_err_fun(nom_x, true_x, out_6091261500618765150); } -void car_H_mod_fun(double *state, double *out_3975286947566256014) { - H_mod_fun(state, out_3975286947566256014); +void car_H_mod_fun(double *state, double *out_38657891020581010) { + H_mod_fun(state, out_38657891020581010); } -void car_f_fun(double *state, double dt, double *out_1399233721380390552) { - f_fun(state, dt, out_1399233721380390552); +void car_f_fun(double *state, double dt, double *out_558885094687163216) { + f_fun(state, dt, out_558885094687163216); } -void car_F_fun(double *state, double dt, double *out_1547855628850571031) { - F_fun(state, dt, out_1547855628850571031); +void car_F_fun(double *state, double dt, double *out_2583716049044893862) { + F_fun(state, dt, out_2583716049044893862); } -void car_h_25(double *state, double *unused, double *out_4999223901660539793) { - h_25(state, unused, out_4999223901660539793); +void car_h_25(double *state, double *unused, double *out_6863161802963304328) { + h_25(state, unused, out_6863161802963304328); } -void car_H_25(double *state, double *unused, double *out_5217901278345981223) { - H_25(state, unused, out_5217901278345981223); +void car_H_25(double *state, double *unused, double *out_2872687221825540538) { + H_25(state, unused, out_2872687221825540538); } -void car_h_24(double *state, double *unused, double *out_6882293632162622150) { - h_24(state, unused, out_6882293632162622150); +void car_h_24(double *state, double *unused, double *out_1110917950379322687) { + h_24(state, unused, out_1110917950379322687); } -void car_H_24(double *state, double *unused, double *out_1436304179762204534) { - H_24(state, unused, out_1436304179762204534); +void car_H_24(double *state, double *unused, double *out_4545704411851386355) { + H_24(state, unused, out_4545704411851386355); } -void car_h_30(double *state, double *unused, double *out_4724029839376033904) { - h_30(state, unused, out_4724029839376033904); +void car_h_30(double *state, double *unused, double *out_3820317013925574847) { + h_30(state, unused, out_3820317013925574847); } -void car_H_30(double *state, double *unused, double *out_8701146465235962195) { - H_30(state, unused, out_8701146465235962195); +void car_H_30(double *state, double *unused, double *out_7400383551953148736) { + H_30(state, unused, out_7400383551953148736); } -void car_h_26(double *state, double *unused, double *out_3556286038299892167) { - h_26(state, unused, out_3556286038299892167); +void car_h_26(double *state, double *unused, double *out_3983562419870100788) { + h_26(state, unused, out_3983562419870100788); } -void car_H_26(double *state, double *unused, double *out_8959404597220037447) { - H_26(state, unused, out_8959404597220037447); +void car_H_26(double *state, double *unused, double *out_6614190540699596762) { + H_26(state, unused, out_6614190540699596762); } -void car_h_27(double *state, double *unused, double *out_356357552238636072) { - h_27(state, unused, out_356357552238636072); +void car_h_27(double *state, double *unused, double *out_70918829331572549) { + h_27(state, unused, out_70918829331572549); } -void car_H_27(double *state, double *unused, double *out_7522003537289646204) { - H_27(state, unused, out_7522003537289646204); +void car_H_27(double *state, double *unused, double *out_5176789480769205519) { + H_27(state, unused, out_5176789480769205519); } -void car_h_29(double *state, double *unused, double *out_277643428284811741) { - h_29(state, unused, out_277643428284811741); +void car_h_29(double *state, double *unused, double *out_4423632898602052364) { + h_29(state, unused, out_4423632898602052364); } -void car_H_29(double *state, double *unused, double *out_9211377809550354379) { - H_29(state, unused, out_9211377809550354379); +void car_H_29(double *state, double *unused, double *out_6890152207638756552) { + H_29(state, unused, out_6890152207638756552); } -void car_h_28(double *state, double *unused, double *out_5358030819899481717) { - h_28(state, unused, out_5358030819899481717); +void car_h_28(double *state, double *unused, double *out_3204928983415884040) { + h_28(state, unused, out_3204928983415884040); } -void car_H_28(double *state, double *unused, double *out_4128978792480823805) { - H_28(state, unused, out_4128978792480823805); +void car_H_28(double *state, double *unused, double *out_4926521936073430301) { + H_28(state, unused, out_4926521936073430301); } -void car_h_31(double *state, double *unused, double *out_2893715593223983566) { - h_31(state, unused, out_2893715593223983566); +void car_h_31(double *state, double *unused, double *out_597396961285583997) { + h_31(state, unused, out_597396961285583997); } -void car_H_31(double *state, double *unused, double *out_8861131374256162693) { - H_31(state, unused, out_8861131374256162693); +void car_H_31(double *state, double *unused, double *out_2842041259948580110) { + H_31(state, unused, out_2842041259948580110); } 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 2cb3eeeac..f463224fe 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_5469727734415202139); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_9043415007849521510); -void car_H_mod_fun(double *state, double *out_3975286947566256014); -void car_f_fun(double *state, double dt, double *out_1399233721380390552); -void car_F_fun(double *state, double dt, double *out_1547855628850571031); -void car_h_25(double *state, double *unused, double *out_4999223901660539793); -void car_H_25(double *state, double *unused, double *out_5217901278345981223); -void car_h_24(double *state, double *unused, double *out_6882293632162622150); -void car_H_24(double *state, double *unused, double *out_1436304179762204534); -void car_h_30(double *state, double *unused, double *out_4724029839376033904); -void car_H_30(double *state, double *unused, double *out_8701146465235962195); -void car_h_26(double *state, double *unused, double *out_3556286038299892167); -void car_H_26(double *state, double *unused, double *out_8959404597220037447); -void car_h_27(double *state, double *unused, double *out_356357552238636072); -void car_H_27(double *state, double *unused, double *out_7522003537289646204); -void car_h_29(double *state, double *unused, double *out_277643428284811741); -void car_H_29(double *state, double *unused, double *out_9211377809550354379); -void car_h_28(double *state, double *unused, double *out_5358030819899481717); -void car_H_28(double *state, double *unused, double *out_4128978792480823805); -void car_h_31(double *state, double *unused, double *out_2893715593223983566); -void car_H_31(double *state, double *unused, double *out_8861131374256162693); +void car_err_fun(double *nom_x, double *delta_x, double *out_8452016858633359142); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_6091261500618765150); +void car_H_mod_fun(double *state, double *out_38657891020581010); +void car_f_fun(double *state, double dt, double *out_558885094687163216); +void car_F_fun(double *state, double dt, double *out_2583716049044893862); +void car_h_25(double *state, double *unused, double *out_6863161802963304328); +void car_H_25(double *state, double *unused, double *out_2872687221825540538); +void car_h_24(double *state, double *unused, double *out_1110917950379322687); +void car_H_24(double *state, double *unused, double *out_4545704411851386355); +void car_h_30(double *state, double *unused, double *out_3820317013925574847); +void car_H_30(double *state, double *unused, double *out_7400383551953148736); +void car_h_26(double *state, double *unused, double *out_3983562419870100788); +void car_H_26(double *state, double *unused, double *out_6614190540699596762); +void car_h_27(double *state, double *unused, double *out_70918829331572549); +void car_H_27(double *state, double *unused, double *out_5176789480769205519); +void car_h_29(double *state, double *unused, double *out_4423632898602052364); +void car_H_29(double *state, double *unused, double *out_6890152207638756552); +void car_h_28(double *state, double *unused, double *out_3204928983415884040); +void car_H_28(double *state, double *unused, double *out_4926521936073430301); +void car_h_31(double *state, double *unused, double *out_597396961285583997); +void car_H_31(double *state, double *unused, double *out_2842041259948580110); 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 cde019db4..86d71c43f 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_3037457306540495367) { - out_3037457306540495367[0] = delta_x[0] + nom_x[0]; - out_3037457306540495367[1] = delta_x[1] + nom_x[1]; - out_3037457306540495367[2] = delta_x[2] + nom_x[2]; - out_3037457306540495367[3] = delta_x[3] + nom_x[3]; - out_3037457306540495367[4] = delta_x[4] + nom_x[4]; - out_3037457306540495367[5] = delta_x[5] + nom_x[5]; - out_3037457306540495367[6] = delta_x[6] + nom_x[6]; - out_3037457306540495367[7] = delta_x[7] + nom_x[7]; - out_3037457306540495367[8] = delta_x[8] + nom_x[8]; - out_3037457306540495367[9] = delta_x[9] + nom_x[9]; - out_3037457306540495367[10] = delta_x[10] + nom_x[10]; - out_3037457306540495367[11] = delta_x[11] + nom_x[11]; - out_3037457306540495367[12] = delta_x[12] + nom_x[12]; - out_3037457306540495367[13] = delta_x[13] + nom_x[13]; - out_3037457306540495367[14] = delta_x[14] + nom_x[14]; - out_3037457306540495367[15] = delta_x[15] + nom_x[15]; - out_3037457306540495367[16] = delta_x[16] + nom_x[16]; - out_3037457306540495367[17] = delta_x[17] + nom_x[17]; +void err_fun(double *nom_x, double *delta_x, double *out_3585092682791090136) { + out_3585092682791090136[0] = delta_x[0] + nom_x[0]; + out_3585092682791090136[1] = delta_x[1] + nom_x[1]; + out_3585092682791090136[2] = delta_x[2] + nom_x[2]; + out_3585092682791090136[3] = delta_x[3] + nom_x[3]; + out_3585092682791090136[4] = delta_x[4] + nom_x[4]; + out_3585092682791090136[5] = delta_x[5] + nom_x[5]; + out_3585092682791090136[6] = delta_x[6] + nom_x[6]; + out_3585092682791090136[7] = delta_x[7] + nom_x[7]; + out_3585092682791090136[8] = delta_x[8] + nom_x[8]; + out_3585092682791090136[9] = delta_x[9] + nom_x[9]; + out_3585092682791090136[10] = delta_x[10] + nom_x[10]; + out_3585092682791090136[11] = delta_x[11] + nom_x[11]; + out_3585092682791090136[12] = delta_x[12] + nom_x[12]; + out_3585092682791090136[13] = delta_x[13] + nom_x[13]; + out_3585092682791090136[14] = delta_x[14] + nom_x[14]; + out_3585092682791090136[15] = delta_x[15] + nom_x[15]; + out_3585092682791090136[16] = delta_x[16] + nom_x[16]; + out_3585092682791090136[17] = delta_x[17] + nom_x[17]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146) { - out_5504742843249496146[0] = -nom_x[0] + true_x[0]; - out_5504742843249496146[1] = -nom_x[1] + true_x[1]; - out_5504742843249496146[2] = -nom_x[2] + true_x[2]; - out_5504742843249496146[3] = -nom_x[3] + true_x[3]; - out_5504742843249496146[4] = -nom_x[4] + true_x[4]; - out_5504742843249496146[5] = -nom_x[5] + true_x[5]; - out_5504742843249496146[6] = -nom_x[6] + true_x[6]; - out_5504742843249496146[7] = -nom_x[7] + true_x[7]; - out_5504742843249496146[8] = -nom_x[8] + true_x[8]; - out_5504742843249496146[9] = -nom_x[9] + true_x[9]; - out_5504742843249496146[10] = -nom_x[10] + true_x[10]; - out_5504742843249496146[11] = -nom_x[11] + true_x[11]; - out_5504742843249496146[12] = -nom_x[12] + true_x[12]; - out_5504742843249496146[13] = -nom_x[13] + true_x[13]; - out_5504742843249496146[14] = -nom_x[14] + true_x[14]; - out_5504742843249496146[15] = -nom_x[15] + true_x[15]; - out_5504742843249496146[16] = -nom_x[16] + true_x[16]; - out_5504742843249496146[17] = -nom_x[17] + true_x[17]; +void inv_err_fun(double *nom_x, double *true_x, double *out_3602092163882833613) { + out_3602092163882833613[0] = -nom_x[0] + true_x[0]; + out_3602092163882833613[1] = -nom_x[1] + true_x[1]; + out_3602092163882833613[2] = -nom_x[2] + true_x[2]; + out_3602092163882833613[3] = -nom_x[3] + true_x[3]; + out_3602092163882833613[4] = -nom_x[4] + true_x[4]; + out_3602092163882833613[5] = -nom_x[5] + true_x[5]; + out_3602092163882833613[6] = -nom_x[6] + true_x[6]; + out_3602092163882833613[7] = -nom_x[7] + true_x[7]; + out_3602092163882833613[8] = -nom_x[8] + true_x[8]; + out_3602092163882833613[9] = -nom_x[9] + true_x[9]; + out_3602092163882833613[10] = -nom_x[10] + true_x[10]; + out_3602092163882833613[11] = -nom_x[11] + true_x[11]; + out_3602092163882833613[12] = -nom_x[12] + true_x[12]; + out_3602092163882833613[13] = -nom_x[13] + true_x[13]; + out_3602092163882833613[14] = -nom_x[14] + true_x[14]; + out_3602092163882833613[15] = -nom_x[15] + true_x[15]; + out_3602092163882833613[16] = -nom_x[16] + true_x[16]; + out_3602092163882833613[17] = -nom_x[17] + true_x[17]; } -void H_mod_fun(double *state, double *out_4825348341631687231) { - out_4825348341631687231[0] = 1.0; - out_4825348341631687231[1] = 0.0; - out_4825348341631687231[2] = 0.0; - out_4825348341631687231[3] = 0.0; - out_4825348341631687231[4] = 0.0; - out_4825348341631687231[5] = 0.0; - out_4825348341631687231[6] = 0.0; - out_4825348341631687231[7] = 0.0; - out_4825348341631687231[8] = 0.0; - out_4825348341631687231[9] = 0.0; - out_4825348341631687231[10] = 0.0; - out_4825348341631687231[11] = 0.0; - out_4825348341631687231[12] = 0.0; - out_4825348341631687231[13] = 0.0; - out_4825348341631687231[14] = 0.0; - out_4825348341631687231[15] = 0.0; - out_4825348341631687231[16] = 0.0; - out_4825348341631687231[17] = 0.0; - out_4825348341631687231[18] = 0.0; - out_4825348341631687231[19] = 1.0; - out_4825348341631687231[20] = 0.0; - out_4825348341631687231[21] = 0.0; - out_4825348341631687231[22] = 0.0; - out_4825348341631687231[23] = 0.0; - out_4825348341631687231[24] = 0.0; - out_4825348341631687231[25] = 0.0; - out_4825348341631687231[26] = 0.0; - out_4825348341631687231[27] = 0.0; - out_4825348341631687231[28] = 0.0; - out_4825348341631687231[29] = 0.0; - out_4825348341631687231[30] = 0.0; - out_4825348341631687231[31] = 0.0; - out_4825348341631687231[32] = 0.0; - out_4825348341631687231[33] = 0.0; - out_4825348341631687231[34] = 0.0; - out_4825348341631687231[35] = 0.0; - out_4825348341631687231[36] = 0.0; - out_4825348341631687231[37] = 0.0; - out_4825348341631687231[38] = 1.0; - out_4825348341631687231[39] = 0.0; - out_4825348341631687231[40] = 0.0; - out_4825348341631687231[41] = 0.0; - out_4825348341631687231[42] = 0.0; - out_4825348341631687231[43] = 0.0; - out_4825348341631687231[44] = 0.0; - out_4825348341631687231[45] = 0.0; - out_4825348341631687231[46] = 0.0; - out_4825348341631687231[47] = 0.0; - out_4825348341631687231[48] = 0.0; - out_4825348341631687231[49] = 0.0; - out_4825348341631687231[50] = 0.0; - out_4825348341631687231[51] = 0.0; - out_4825348341631687231[52] = 0.0; - out_4825348341631687231[53] = 0.0; - out_4825348341631687231[54] = 0.0; - out_4825348341631687231[55] = 0.0; - out_4825348341631687231[56] = 0.0; - out_4825348341631687231[57] = 1.0; - out_4825348341631687231[58] = 0.0; - out_4825348341631687231[59] = 0.0; - out_4825348341631687231[60] = 0.0; - out_4825348341631687231[61] = 0.0; - out_4825348341631687231[62] = 0.0; - out_4825348341631687231[63] = 0.0; - out_4825348341631687231[64] = 0.0; - out_4825348341631687231[65] = 0.0; - out_4825348341631687231[66] = 0.0; - out_4825348341631687231[67] = 0.0; - out_4825348341631687231[68] = 0.0; - out_4825348341631687231[69] = 0.0; - out_4825348341631687231[70] = 0.0; - out_4825348341631687231[71] = 0.0; - out_4825348341631687231[72] = 0.0; - out_4825348341631687231[73] = 0.0; - out_4825348341631687231[74] = 0.0; - out_4825348341631687231[75] = 0.0; - out_4825348341631687231[76] = 1.0; - out_4825348341631687231[77] = 0.0; - out_4825348341631687231[78] = 0.0; - out_4825348341631687231[79] = 0.0; - out_4825348341631687231[80] = 0.0; - out_4825348341631687231[81] = 0.0; - out_4825348341631687231[82] = 0.0; - out_4825348341631687231[83] = 0.0; - out_4825348341631687231[84] = 0.0; - out_4825348341631687231[85] = 0.0; - out_4825348341631687231[86] = 0.0; - out_4825348341631687231[87] = 0.0; - out_4825348341631687231[88] = 0.0; - out_4825348341631687231[89] = 0.0; - out_4825348341631687231[90] = 0.0; - out_4825348341631687231[91] = 0.0; - out_4825348341631687231[92] = 0.0; - out_4825348341631687231[93] = 0.0; - out_4825348341631687231[94] = 0.0; - out_4825348341631687231[95] = 1.0; - out_4825348341631687231[96] = 0.0; - out_4825348341631687231[97] = 0.0; - out_4825348341631687231[98] = 0.0; - out_4825348341631687231[99] = 0.0; - out_4825348341631687231[100] = 0.0; - out_4825348341631687231[101] = 0.0; - out_4825348341631687231[102] = 0.0; - out_4825348341631687231[103] = 0.0; - out_4825348341631687231[104] = 0.0; - out_4825348341631687231[105] = 0.0; - out_4825348341631687231[106] = 0.0; - out_4825348341631687231[107] = 0.0; - out_4825348341631687231[108] = 0.0; - out_4825348341631687231[109] = 0.0; - out_4825348341631687231[110] = 0.0; - out_4825348341631687231[111] = 0.0; - out_4825348341631687231[112] = 0.0; - out_4825348341631687231[113] = 0.0; - out_4825348341631687231[114] = 1.0; - out_4825348341631687231[115] = 0.0; - out_4825348341631687231[116] = 0.0; - out_4825348341631687231[117] = 0.0; - out_4825348341631687231[118] = 0.0; - out_4825348341631687231[119] = 0.0; - out_4825348341631687231[120] = 0.0; - out_4825348341631687231[121] = 0.0; - out_4825348341631687231[122] = 0.0; - out_4825348341631687231[123] = 0.0; - out_4825348341631687231[124] = 0.0; - out_4825348341631687231[125] = 0.0; - out_4825348341631687231[126] = 0.0; - out_4825348341631687231[127] = 0.0; - out_4825348341631687231[128] = 0.0; - out_4825348341631687231[129] = 0.0; - out_4825348341631687231[130] = 0.0; - out_4825348341631687231[131] = 0.0; - out_4825348341631687231[132] = 0.0; - out_4825348341631687231[133] = 1.0; - out_4825348341631687231[134] = 0.0; - out_4825348341631687231[135] = 0.0; - out_4825348341631687231[136] = 0.0; - out_4825348341631687231[137] = 0.0; - out_4825348341631687231[138] = 0.0; - out_4825348341631687231[139] = 0.0; - out_4825348341631687231[140] = 0.0; - out_4825348341631687231[141] = 0.0; - out_4825348341631687231[142] = 0.0; - out_4825348341631687231[143] = 0.0; - out_4825348341631687231[144] = 0.0; - out_4825348341631687231[145] = 0.0; - out_4825348341631687231[146] = 0.0; - out_4825348341631687231[147] = 0.0; - out_4825348341631687231[148] = 0.0; - out_4825348341631687231[149] = 0.0; - out_4825348341631687231[150] = 0.0; - out_4825348341631687231[151] = 0.0; - out_4825348341631687231[152] = 1.0; - out_4825348341631687231[153] = 0.0; - out_4825348341631687231[154] = 0.0; - out_4825348341631687231[155] = 0.0; - out_4825348341631687231[156] = 0.0; - out_4825348341631687231[157] = 0.0; - out_4825348341631687231[158] = 0.0; - out_4825348341631687231[159] = 0.0; - out_4825348341631687231[160] = 0.0; - out_4825348341631687231[161] = 0.0; - out_4825348341631687231[162] = 0.0; - out_4825348341631687231[163] = 0.0; - out_4825348341631687231[164] = 0.0; - out_4825348341631687231[165] = 0.0; - out_4825348341631687231[166] = 0.0; - out_4825348341631687231[167] = 0.0; - out_4825348341631687231[168] = 0.0; - out_4825348341631687231[169] = 0.0; - out_4825348341631687231[170] = 0.0; - out_4825348341631687231[171] = 1.0; - out_4825348341631687231[172] = 0.0; - out_4825348341631687231[173] = 0.0; - out_4825348341631687231[174] = 0.0; - out_4825348341631687231[175] = 0.0; - out_4825348341631687231[176] = 0.0; - out_4825348341631687231[177] = 0.0; - out_4825348341631687231[178] = 0.0; - out_4825348341631687231[179] = 0.0; - out_4825348341631687231[180] = 0.0; - out_4825348341631687231[181] = 0.0; - out_4825348341631687231[182] = 0.0; - out_4825348341631687231[183] = 0.0; - out_4825348341631687231[184] = 0.0; - out_4825348341631687231[185] = 0.0; - out_4825348341631687231[186] = 0.0; - out_4825348341631687231[187] = 0.0; - out_4825348341631687231[188] = 0.0; - out_4825348341631687231[189] = 0.0; - out_4825348341631687231[190] = 1.0; - out_4825348341631687231[191] = 0.0; - out_4825348341631687231[192] = 0.0; - out_4825348341631687231[193] = 0.0; - out_4825348341631687231[194] = 0.0; - out_4825348341631687231[195] = 0.0; - out_4825348341631687231[196] = 0.0; - out_4825348341631687231[197] = 0.0; - out_4825348341631687231[198] = 0.0; - out_4825348341631687231[199] = 0.0; - out_4825348341631687231[200] = 0.0; - out_4825348341631687231[201] = 0.0; - out_4825348341631687231[202] = 0.0; - out_4825348341631687231[203] = 0.0; - out_4825348341631687231[204] = 0.0; - out_4825348341631687231[205] = 0.0; - out_4825348341631687231[206] = 0.0; - out_4825348341631687231[207] = 0.0; - out_4825348341631687231[208] = 0.0; - out_4825348341631687231[209] = 1.0; - out_4825348341631687231[210] = 0.0; - out_4825348341631687231[211] = 0.0; - out_4825348341631687231[212] = 0.0; - out_4825348341631687231[213] = 0.0; - out_4825348341631687231[214] = 0.0; - out_4825348341631687231[215] = 0.0; - out_4825348341631687231[216] = 0.0; - out_4825348341631687231[217] = 0.0; - out_4825348341631687231[218] = 0.0; - out_4825348341631687231[219] = 0.0; - out_4825348341631687231[220] = 0.0; - out_4825348341631687231[221] = 0.0; - out_4825348341631687231[222] = 0.0; - out_4825348341631687231[223] = 0.0; - out_4825348341631687231[224] = 0.0; - out_4825348341631687231[225] = 0.0; - out_4825348341631687231[226] = 0.0; - out_4825348341631687231[227] = 0.0; - out_4825348341631687231[228] = 1.0; - out_4825348341631687231[229] = 0.0; - out_4825348341631687231[230] = 0.0; - out_4825348341631687231[231] = 0.0; - out_4825348341631687231[232] = 0.0; - out_4825348341631687231[233] = 0.0; - out_4825348341631687231[234] = 0.0; - out_4825348341631687231[235] = 0.0; - out_4825348341631687231[236] = 0.0; - out_4825348341631687231[237] = 0.0; - out_4825348341631687231[238] = 0.0; - out_4825348341631687231[239] = 0.0; - out_4825348341631687231[240] = 0.0; - out_4825348341631687231[241] = 0.0; - out_4825348341631687231[242] = 0.0; - out_4825348341631687231[243] = 0.0; - out_4825348341631687231[244] = 0.0; - out_4825348341631687231[245] = 0.0; - out_4825348341631687231[246] = 0.0; - out_4825348341631687231[247] = 1.0; - out_4825348341631687231[248] = 0.0; - out_4825348341631687231[249] = 0.0; - out_4825348341631687231[250] = 0.0; - out_4825348341631687231[251] = 0.0; - out_4825348341631687231[252] = 0.0; - out_4825348341631687231[253] = 0.0; - out_4825348341631687231[254] = 0.0; - out_4825348341631687231[255] = 0.0; - out_4825348341631687231[256] = 0.0; - out_4825348341631687231[257] = 0.0; - out_4825348341631687231[258] = 0.0; - out_4825348341631687231[259] = 0.0; - out_4825348341631687231[260] = 0.0; - out_4825348341631687231[261] = 0.0; - out_4825348341631687231[262] = 0.0; - out_4825348341631687231[263] = 0.0; - out_4825348341631687231[264] = 0.0; - out_4825348341631687231[265] = 0.0; - out_4825348341631687231[266] = 1.0; - out_4825348341631687231[267] = 0.0; - out_4825348341631687231[268] = 0.0; - out_4825348341631687231[269] = 0.0; - out_4825348341631687231[270] = 0.0; - out_4825348341631687231[271] = 0.0; - out_4825348341631687231[272] = 0.0; - out_4825348341631687231[273] = 0.0; - out_4825348341631687231[274] = 0.0; - out_4825348341631687231[275] = 0.0; - out_4825348341631687231[276] = 0.0; - out_4825348341631687231[277] = 0.0; - out_4825348341631687231[278] = 0.0; - out_4825348341631687231[279] = 0.0; - out_4825348341631687231[280] = 0.0; - out_4825348341631687231[281] = 0.0; - out_4825348341631687231[282] = 0.0; - out_4825348341631687231[283] = 0.0; - out_4825348341631687231[284] = 0.0; - out_4825348341631687231[285] = 1.0; - out_4825348341631687231[286] = 0.0; - out_4825348341631687231[287] = 0.0; - out_4825348341631687231[288] = 0.0; - out_4825348341631687231[289] = 0.0; - out_4825348341631687231[290] = 0.0; - out_4825348341631687231[291] = 0.0; - out_4825348341631687231[292] = 0.0; - out_4825348341631687231[293] = 0.0; - out_4825348341631687231[294] = 0.0; - out_4825348341631687231[295] = 0.0; - out_4825348341631687231[296] = 0.0; - out_4825348341631687231[297] = 0.0; - out_4825348341631687231[298] = 0.0; - out_4825348341631687231[299] = 0.0; - out_4825348341631687231[300] = 0.0; - out_4825348341631687231[301] = 0.0; - out_4825348341631687231[302] = 0.0; - out_4825348341631687231[303] = 0.0; - out_4825348341631687231[304] = 1.0; - out_4825348341631687231[305] = 0.0; - out_4825348341631687231[306] = 0.0; - out_4825348341631687231[307] = 0.0; - out_4825348341631687231[308] = 0.0; - out_4825348341631687231[309] = 0.0; - out_4825348341631687231[310] = 0.0; - out_4825348341631687231[311] = 0.0; - out_4825348341631687231[312] = 0.0; - out_4825348341631687231[313] = 0.0; - out_4825348341631687231[314] = 0.0; - out_4825348341631687231[315] = 0.0; - out_4825348341631687231[316] = 0.0; - out_4825348341631687231[317] = 0.0; - out_4825348341631687231[318] = 0.0; - out_4825348341631687231[319] = 0.0; - out_4825348341631687231[320] = 0.0; - out_4825348341631687231[321] = 0.0; - out_4825348341631687231[322] = 0.0; - out_4825348341631687231[323] = 1.0; +void H_mod_fun(double *state, double *out_9072779523166268742) { + out_9072779523166268742[0] = 1.0; + out_9072779523166268742[1] = 0.0; + out_9072779523166268742[2] = 0.0; + out_9072779523166268742[3] = 0.0; + out_9072779523166268742[4] = 0.0; + out_9072779523166268742[5] = 0.0; + out_9072779523166268742[6] = 0.0; + out_9072779523166268742[7] = 0.0; + out_9072779523166268742[8] = 0.0; + out_9072779523166268742[9] = 0.0; + out_9072779523166268742[10] = 0.0; + out_9072779523166268742[11] = 0.0; + out_9072779523166268742[12] = 0.0; + out_9072779523166268742[13] = 0.0; + out_9072779523166268742[14] = 0.0; + out_9072779523166268742[15] = 0.0; + out_9072779523166268742[16] = 0.0; + out_9072779523166268742[17] = 0.0; + out_9072779523166268742[18] = 0.0; + out_9072779523166268742[19] = 1.0; + out_9072779523166268742[20] = 0.0; + out_9072779523166268742[21] = 0.0; + out_9072779523166268742[22] = 0.0; + out_9072779523166268742[23] = 0.0; + out_9072779523166268742[24] = 0.0; + out_9072779523166268742[25] = 0.0; + out_9072779523166268742[26] = 0.0; + out_9072779523166268742[27] = 0.0; + out_9072779523166268742[28] = 0.0; + out_9072779523166268742[29] = 0.0; + out_9072779523166268742[30] = 0.0; + out_9072779523166268742[31] = 0.0; + out_9072779523166268742[32] = 0.0; + out_9072779523166268742[33] = 0.0; + out_9072779523166268742[34] = 0.0; + out_9072779523166268742[35] = 0.0; + out_9072779523166268742[36] = 0.0; + out_9072779523166268742[37] = 0.0; + out_9072779523166268742[38] = 1.0; + out_9072779523166268742[39] = 0.0; + out_9072779523166268742[40] = 0.0; + out_9072779523166268742[41] = 0.0; + out_9072779523166268742[42] = 0.0; + out_9072779523166268742[43] = 0.0; + out_9072779523166268742[44] = 0.0; + out_9072779523166268742[45] = 0.0; + out_9072779523166268742[46] = 0.0; + out_9072779523166268742[47] = 0.0; + out_9072779523166268742[48] = 0.0; + out_9072779523166268742[49] = 0.0; + out_9072779523166268742[50] = 0.0; + out_9072779523166268742[51] = 0.0; + out_9072779523166268742[52] = 0.0; + out_9072779523166268742[53] = 0.0; + out_9072779523166268742[54] = 0.0; + out_9072779523166268742[55] = 0.0; + out_9072779523166268742[56] = 0.0; + out_9072779523166268742[57] = 1.0; + out_9072779523166268742[58] = 0.0; + out_9072779523166268742[59] = 0.0; + out_9072779523166268742[60] = 0.0; + out_9072779523166268742[61] = 0.0; + out_9072779523166268742[62] = 0.0; + out_9072779523166268742[63] = 0.0; + out_9072779523166268742[64] = 0.0; + out_9072779523166268742[65] = 0.0; + out_9072779523166268742[66] = 0.0; + out_9072779523166268742[67] = 0.0; + out_9072779523166268742[68] = 0.0; + out_9072779523166268742[69] = 0.0; + out_9072779523166268742[70] = 0.0; + out_9072779523166268742[71] = 0.0; + out_9072779523166268742[72] = 0.0; + out_9072779523166268742[73] = 0.0; + out_9072779523166268742[74] = 0.0; + out_9072779523166268742[75] = 0.0; + out_9072779523166268742[76] = 1.0; + out_9072779523166268742[77] = 0.0; + out_9072779523166268742[78] = 0.0; + out_9072779523166268742[79] = 0.0; + out_9072779523166268742[80] = 0.0; + out_9072779523166268742[81] = 0.0; + out_9072779523166268742[82] = 0.0; + out_9072779523166268742[83] = 0.0; + out_9072779523166268742[84] = 0.0; + out_9072779523166268742[85] = 0.0; + out_9072779523166268742[86] = 0.0; + out_9072779523166268742[87] = 0.0; + out_9072779523166268742[88] = 0.0; + out_9072779523166268742[89] = 0.0; + out_9072779523166268742[90] = 0.0; + out_9072779523166268742[91] = 0.0; + out_9072779523166268742[92] = 0.0; + out_9072779523166268742[93] = 0.0; + out_9072779523166268742[94] = 0.0; + out_9072779523166268742[95] = 1.0; + out_9072779523166268742[96] = 0.0; + out_9072779523166268742[97] = 0.0; + out_9072779523166268742[98] = 0.0; + out_9072779523166268742[99] = 0.0; + out_9072779523166268742[100] = 0.0; + out_9072779523166268742[101] = 0.0; + out_9072779523166268742[102] = 0.0; + out_9072779523166268742[103] = 0.0; + out_9072779523166268742[104] = 0.0; + out_9072779523166268742[105] = 0.0; + out_9072779523166268742[106] = 0.0; + out_9072779523166268742[107] = 0.0; + out_9072779523166268742[108] = 0.0; + out_9072779523166268742[109] = 0.0; + out_9072779523166268742[110] = 0.0; + out_9072779523166268742[111] = 0.0; + out_9072779523166268742[112] = 0.0; + out_9072779523166268742[113] = 0.0; + out_9072779523166268742[114] = 1.0; + out_9072779523166268742[115] = 0.0; + out_9072779523166268742[116] = 0.0; + out_9072779523166268742[117] = 0.0; + out_9072779523166268742[118] = 0.0; + out_9072779523166268742[119] = 0.0; + out_9072779523166268742[120] = 0.0; + out_9072779523166268742[121] = 0.0; + out_9072779523166268742[122] = 0.0; + out_9072779523166268742[123] = 0.0; + out_9072779523166268742[124] = 0.0; + out_9072779523166268742[125] = 0.0; + out_9072779523166268742[126] = 0.0; + out_9072779523166268742[127] = 0.0; + out_9072779523166268742[128] = 0.0; + out_9072779523166268742[129] = 0.0; + out_9072779523166268742[130] = 0.0; + out_9072779523166268742[131] = 0.0; + out_9072779523166268742[132] = 0.0; + out_9072779523166268742[133] = 1.0; + out_9072779523166268742[134] = 0.0; + out_9072779523166268742[135] = 0.0; + out_9072779523166268742[136] = 0.0; + out_9072779523166268742[137] = 0.0; + out_9072779523166268742[138] = 0.0; + out_9072779523166268742[139] = 0.0; + out_9072779523166268742[140] = 0.0; + out_9072779523166268742[141] = 0.0; + out_9072779523166268742[142] = 0.0; + out_9072779523166268742[143] = 0.0; + out_9072779523166268742[144] = 0.0; + out_9072779523166268742[145] = 0.0; + out_9072779523166268742[146] = 0.0; + out_9072779523166268742[147] = 0.0; + out_9072779523166268742[148] = 0.0; + out_9072779523166268742[149] = 0.0; + out_9072779523166268742[150] = 0.0; + out_9072779523166268742[151] = 0.0; + out_9072779523166268742[152] = 1.0; + out_9072779523166268742[153] = 0.0; + out_9072779523166268742[154] = 0.0; + out_9072779523166268742[155] = 0.0; + out_9072779523166268742[156] = 0.0; + out_9072779523166268742[157] = 0.0; + out_9072779523166268742[158] = 0.0; + out_9072779523166268742[159] = 0.0; + out_9072779523166268742[160] = 0.0; + out_9072779523166268742[161] = 0.0; + out_9072779523166268742[162] = 0.0; + out_9072779523166268742[163] = 0.0; + out_9072779523166268742[164] = 0.0; + out_9072779523166268742[165] = 0.0; + out_9072779523166268742[166] = 0.0; + out_9072779523166268742[167] = 0.0; + out_9072779523166268742[168] = 0.0; + out_9072779523166268742[169] = 0.0; + out_9072779523166268742[170] = 0.0; + out_9072779523166268742[171] = 1.0; + out_9072779523166268742[172] = 0.0; + out_9072779523166268742[173] = 0.0; + out_9072779523166268742[174] = 0.0; + out_9072779523166268742[175] = 0.0; + out_9072779523166268742[176] = 0.0; + out_9072779523166268742[177] = 0.0; + out_9072779523166268742[178] = 0.0; + out_9072779523166268742[179] = 0.0; + out_9072779523166268742[180] = 0.0; + out_9072779523166268742[181] = 0.0; + out_9072779523166268742[182] = 0.0; + out_9072779523166268742[183] = 0.0; + out_9072779523166268742[184] = 0.0; + out_9072779523166268742[185] = 0.0; + out_9072779523166268742[186] = 0.0; + out_9072779523166268742[187] = 0.0; + out_9072779523166268742[188] = 0.0; + out_9072779523166268742[189] = 0.0; + out_9072779523166268742[190] = 1.0; + out_9072779523166268742[191] = 0.0; + out_9072779523166268742[192] = 0.0; + out_9072779523166268742[193] = 0.0; + out_9072779523166268742[194] = 0.0; + out_9072779523166268742[195] = 0.0; + out_9072779523166268742[196] = 0.0; + out_9072779523166268742[197] = 0.0; + out_9072779523166268742[198] = 0.0; + out_9072779523166268742[199] = 0.0; + out_9072779523166268742[200] = 0.0; + out_9072779523166268742[201] = 0.0; + out_9072779523166268742[202] = 0.0; + out_9072779523166268742[203] = 0.0; + out_9072779523166268742[204] = 0.0; + out_9072779523166268742[205] = 0.0; + out_9072779523166268742[206] = 0.0; + out_9072779523166268742[207] = 0.0; + out_9072779523166268742[208] = 0.0; + out_9072779523166268742[209] = 1.0; + out_9072779523166268742[210] = 0.0; + out_9072779523166268742[211] = 0.0; + out_9072779523166268742[212] = 0.0; + out_9072779523166268742[213] = 0.0; + out_9072779523166268742[214] = 0.0; + out_9072779523166268742[215] = 0.0; + out_9072779523166268742[216] = 0.0; + out_9072779523166268742[217] = 0.0; + out_9072779523166268742[218] = 0.0; + out_9072779523166268742[219] = 0.0; + out_9072779523166268742[220] = 0.0; + out_9072779523166268742[221] = 0.0; + out_9072779523166268742[222] = 0.0; + out_9072779523166268742[223] = 0.0; + out_9072779523166268742[224] = 0.0; + out_9072779523166268742[225] = 0.0; + out_9072779523166268742[226] = 0.0; + out_9072779523166268742[227] = 0.0; + out_9072779523166268742[228] = 1.0; + out_9072779523166268742[229] = 0.0; + out_9072779523166268742[230] = 0.0; + out_9072779523166268742[231] = 0.0; + out_9072779523166268742[232] = 0.0; + out_9072779523166268742[233] = 0.0; + out_9072779523166268742[234] = 0.0; + out_9072779523166268742[235] = 0.0; + out_9072779523166268742[236] = 0.0; + out_9072779523166268742[237] = 0.0; + out_9072779523166268742[238] = 0.0; + out_9072779523166268742[239] = 0.0; + out_9072779523166268742[240] = 0.0; + out_9072779523166268742[241] = 0.0; + out_9072779523166268742[242] = 0.0; + out_9072779523166268742[243] = 0.0; + out_9072779523166268742[244] = 0.0; + out_9072779523166268742[245] = 0.0; + out_9072779523166268742[246] = 0.0; + out_9072779523166268742[247] = 1.0; + out_9072779523166268742[248] = 0.0; + out_9072779523166268742[249] = 0.0; + out_9072779523166268742[250] = 0.0; + out_9072779523166268742[251] = 0.0; + out_9072779523166268742[252] = 0.0; + out_9072779523166268742[253] = 0.0; + out_9072779523166268742[254] = 0.0; + out_9072779523166268742[255] = 0.0; + out_9072779523166268742[256] = 0.0; + out_9072779523166268742[257] = 0.0; + out_9072779523166268742[258] = 0.0; + out_9072779523166268742[259] = 0.0; + out_9072779523166268742[260] = 0.0; + out_9072779523166268742[261] = 0.0; + out_9072779523166268742[262] = 0.0; + out_9072779523166268742[263] = 0.0; + out_9072779523166268742[264] = 0.0; + out_9072779523166268742[265] = 0.0; + out_9072779523166268742[266] = 1.0; + out_9072779523166268742[267] = 0.0; + out_9072779523166268742[268] = 0.0; + out_9072779523166268742[269] = 0.0; + out_9072779523166268742[270] = 0.0; + out_9072779523166268742[271] = 0.0; + out_9072779523166268742[272] = 0.0; + out_9072779523166268742[273] = 0.0; + out_9072779523166268742[274] = 0.0; + out_9072779523166268742[275] = 0.0; + out_9072779523166268742[276] = 0.0; + out_9072779523166268742[277] = 0.0; + out_9072779523166268742[278] = 0.0; + out_9072779523166268742[279] = 0.0; + out_9072779523166268742[280] = 0.0; + out_9072779523166268742[281] = 0.0; + out_9072779523166268742[282] = 0.0; + out_9072779523166268742[283] = 0.0; + out_9072779523166268742[284] = 0.0; + out_9072779523166268742[285] = 1.0; + out_9072779523166268742[286] = 0.0; + out_9072779523166268742[287] = 0.0; + out_9072779523166268742[288] = 0.0; + out_9072779523166268742[289] = 0.0; + out_9072779523166268742[290] = 0.0; + out_9072779523166268742[291] = 0.0; + out_9072779523166268742[292] = 0.0; + out_9072779523166268742[293] = 0.0; + out_9072779523166268742[294] = 0.0; + out_9072779523166268742[295] = 0.0; + out_9072779523166268742[296] = 0.0; + out_9072779523166268742[297] = 0.0; + out_9072779523166268742[298] = 0.0; + out_9072779523166268742[299] = 0.0; + out_9072779523166268742[300] = 0.0; + out_9072779523166268742[301] = 0.0; + out_9072779523166268742[302] = 0.0; + out_9072779523166268742[303] = 0.0; + out_9072779523166268742[304] = 1.0; + out_9072779523166268742[305] = 0.0; + out_9072779523166268742[306] = 0.0; + out_9072779523166268742[307] = 0.0; + out_9072779523166268742[308] = 0.0; + out_9072779523166268742[309] = 0.0; + out_9072779523166268742[310] = 0.0; + out_9072779523166268742[311] = 0.0; + out_9072779523166268742[312] = 0.0; + out_9072779523166268742[313] = 0.0; + out_9072779523166268742[314] = 0.0; + out_9072779523166268742[315] = 0.0; + out_9072779523166268742[316] = 0.0; + out_9072779523166268742[317] = 0.0; + out_9072779523166268742[318] = 0.0; + out_9072779523166268742[319] = 0.0; + out_9072779523166268742[320] = 0.0; + out_9072779523166268742[321] = 0.0; + out_9072779523166268742[322] = 0.0; + out_9072779523166268742[323] = 1.0; } -void f_fun(double *state, double dt, double *out_6515554172087681296) { - out_6515554172087681296[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_6515554172087681296[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_6515554172087681296[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_6515554172087681296[3] = dt*state[12] + state[3]; - out_6515554172087681296[4] = dt*state[13] + state[4]; - out_6515554172087681296[5] = dt*state[14] + state[5]; - out_6515554172087681296[6] = state[6]; - out_6515554172087681296[7] = state[7]; - out_6515554172087681296[8] = state[8]; - out_6515554172087681296[9] = state[9]; - out_6515554172087681296[10] = state[10]; - out_6515554172087681296[11] = state[11]; - out_6515554172087681296[12] = state[12]; - out_6515554172087681296[13] = state[13]; - out_6515554172087681296[14] = state[14]; - out_6515554172087681296[15] = state[15]; - out_6515554172087681296[16] = state[16]; - out_6515554172087681296[17] = state[17]; +void f_fun(double *state, double dt, double *out_8675559756142309217) { + out_8675559756142309217[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_8675559756142309217[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_8675559756142309217[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_8675559756142309217[3] = dt*state[12] + state[3]; + out_8675559756142309217[4] = dt*state[13] + state[4]; + out_8675559756142309217[5] = dt*state[14] + state[5]; + out_8675559756142309217[6] = state[6]; + out_8675559756142309217[7] = state[7]; + out_8675559756142309217[8] = state[8]; + out_8675559756142309217[9] = state[9]; + out_8675559756142309217[10] = state[10]; + out_8675559756142309217[11] = state[11]; + out_8675559756142309217[12] = state[12]; + out_8675559756142309217[13] = state[13]; + out_8675559756142309217[14] = state[14]; + out_8675559756142309217[15] = state[15]; + out_8675559756142309217[16] = state[16]; + out_8675559756142309217[17] = state[17]; } -void F_fun(double *state, double dt, double *out_6200830679267345445) { - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[2] = 0; - out_6200830679267345445[3] = 0; - out_6200830679267345445[4] = 0; - out_6200830679267345445[5] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[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_6200830679267345445[9] = 0; - out_6200830679267345445[10] = 0; - out_6200830679267345445[11] = 0; - out_6200830679267345445[12] = 0; - out_6200830679267345445[13] = 0; - out_6200830679267345445[14] = 0; - out_6200830679267345445[15] = 0; - out_6200830679267345445[16] = 0; - out_6200830679267345445[17] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[20] = 0; - out_6200830679267345445[21] = 0; - out_6200830679267345445[22] = 0; - out_6200830679267345445[23] = 0; - out_6200830679267345445[24] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[27] = 0; - out_6200830679267345445[28] = 0; - out_6200830679267345445[29] = 0; - out_6200830679267345445[30] = 0; - out_6200830679267345445[31] = 0; - out_6200830679267345445[32] = 0; - out_6200830679267345445[33] = 0; - out_6200830679267345445[34] = 0; - out_6200830679267345445[35] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[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_6200830679267345445[39] = 0; - out_6200830679267345445[40] = 0; - out_6200830679267345445[41] = 0; - out_6200830679267345445[42] = 0; - out_6200830679267345445[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_6200830679267345445[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_6200830679267345445[45] = 0; - out_6200830679267345445[46] = 0; - out_6200830679267345445[47] = 0; - out_6200830679267345445[48] = 0; - out_6200830679267345445[49] = 0; - out_6200830679267345445[50] = 0; - out_6200830679267345445[51] = 0; - out_6200830679267345445[52] = 0; - out_6200830679267345445[53] = 0; - out_6200830679267345445[54] = 0; - out_6200830679267345445[55] = 0; - out_6200830679267345445[56] = 0; - out_6200830679267345445[57] = 1; - out_6200830679267345445[58] = 0; - out_6200830679267345445[59] = 0; - out_6200830679267345445[60] = 0; - out_6200830679267345445[61] = 0; - out_6200830679267345445[62] = 0; - out_6200830679267345445[63] = 0; - out_6200830679267345445[64] = 0; - out_6200830679267345445[65] = 0; - out_6200830679267345445[66] = dt; - out_6200830679267345445[67] = 0; - out_6200830679267345445[68] = 0; - out_6200830679267345445[69] = 0; - out_6200830679267345445[70] = 0; - out_6200830679267345445[71] = 0; - out_6200830679267345445[72] = 0; - out_6200830679267345445[73] = 0; - out_6200830679267345445[74] = 0; - out_6200830679267345445[75] = 0; - out_6200830679267345445[76] = 1; - out_6200830679267345445[77] = 0; - out_6200830679267345445[78] = 0; - out_6200830679267345445[79] = 0; - out_6200830679267345445[80] = 0; - out_6200830679267345445[81] = 0; - out_6200830679267345445[82] = 0; - out_6200830679267345445[83] = 0; - out_6200830679267345445[84] = 0; - out_6200830679267345445[85] = dt; - out_6200830679267345445[86] = 0; - out_6200830679267345445[87] = 0; - out_6200830679267345445[88] = 0; - out_6200830679267345445[89] = 0; - out_6200830679267345445[90] = 0; - out_6200830679267345445[91] = 0; - out_6200830679267345445[92] = 0; - out_6200830679267345445[93] = 0; - out_6200830679267345445[94] = 0; - out_6200830679267345445[95] = 1; - out_6200830679267345445[96] = 0; - out_6200830679267345445[97] = 0; - out_6200830679267345445[98] = 0; - out_6200830679267345445[99] = 0; - out_6200830679267345445[100] = 0; - out_6200830679267345445[101] = 0; - out_6200830679267345445[102] = 0; - out_6200830679267345445[103] = 0; - out_6200830679267345445[104] = dt; - out_6200830679267345445[105] = 0; - out_6200830679267345445[106] = 0; - out_6200830679267345445[107] = 0; - out_6200830679267345445[108] = 0; - out_6200830679267345445[109] = 0; - out_6200830679267345445[110] = 0; - out_6200830679267345445[111] = 0; - out_6200830679267345445[112] = 0; - out_6200830679267345445[113] = 0; - out_6200830679267345445[114] = 1; - out_6200830679267345445[115] = 0; - out_6200830679267345445[116] = 0; - out_6200830679267345445[117] = 0; - out_6200830679267345445[118] = 0; - out_6200830679267345445[119] = 0; - out_6200830679267345445[120] = 0; - out_6200830679267345445[121] = 0; - out_6200830679267345445[122] = 0; - out_6200830679267345445[123] = 0; - out_6200830679267345445[124] = 0; - out_6200830679267345445[125] = 0; - out_6200830679267345445[126] = 0; - out_6200830679267345445[127] = 0; - out_6200830679267345445[128] = 0; - out_6200830679267345445[129] = 0; - out_6200830679267345445[130] = 0; - out_6200830679267345445[131] = 0; - out_6200830679267345445[132] = 0; - out_6200830679267345445[133] = 1; - out_6200830679267345445[134] = 0; - out_6200830679267345445[135] = 0; - out_6200830679267345445[136] = 0; - out_6200830679267345445[137] = 0; - out_6200830679267345445[138] = 0; - out_6200830679267345445[139] = 0; - out_6200830679267345445[140] = 0; - out_6200830679267345445[141] = 0; - out_6200830679267345445[142] = 0; - out_6200830679267345445[143] = 0; - out_6200830679267345445[144] = 0; - out_6200830679267345445[145] = 0; - out_6200830679267345445[146] = 0; - out_6200830679267345445[147] = 0; - out_6200830679267345445[148] = 0; - out_6200830679267345445[149] = 0; - out_6200830679267345445[150] = 0; - out_6200830679267345445[151] = 0; - out_6200830679267345445[152] = 1; - out_6200830679267345445[153] = 0; - out_6200830679267345445[154] = 0; - out_6200830679267345445[155] = 0; - out_6200830679267345445[156] = 0; - out_6200830679267345445[157] = 0; - out_6200830679267345445[158] = 0; - out_6200830679267345445[159] = 0; - out_6200830679267345445[160] = 0; - out_6200830679267345445[161] = 0; - out_6200830679267345445[162] = 0; - out_6200830679267345445[163] = 0; - out_6200830679267345445[164] = 0; - out_6200830679267345445[165] = 0; - out_6200830679267345445[166] = 0; - out_6200830679267345445[167] = 0; - out_6200830679267345445[168] = 0; - out_6200830679267345445[169] = 0; - out_6200830679267345445[170] = 0; - out_6200830679267345445[171] = 1; - out_6200830679267345445[172] = 0; - out_6200830679267345445[173] = 0; - out_6200830679267345445[174] = 0; - out_6200830679267345445[175] = 0; - out_6200830679267345445[176] = 0; - out_6200830679267345445[177] = 0; - out_6200830679267345445[178] = 0; - out_6200830679267345445[179] = 0; - out_6200830679267345445[180] = 0; - out_6200830679267345445[181] = 0; - out_6200830679267345445[182] = 0; - out_6200830679267345445[183] = 0; - out_6200830679267345445[184] = 0; - out_6200830679267345445[185] = 0; - out_6200830679267345445[186] = 0; - out_6200830679267345445[187] = 0; - out_6200830679267345445[188] = 0; - out_6200830679267345445[189] = 0; - out_6200830679267345445[190] = 1; - out_6200830679267345445[191] = 0; - out_6200830679267345445[192] = 0; - out_6200830679267345445[193] = 0; - out_6200830679267345445[194] = 0; - out_6200830679267345445[195] = 0; - out_6200830679267345445[196] = 0; - out_6200830679267345445[197] = 0; - out_6200830679267345445[198] = 0; - out_6200830679267345445[199] = 0; - out_6200830679267345445[200] = 0; - out_6200830679267345445[201] = 0; - out_6200830679267345445[202] = 0; - out_6200830679267345445[203] = 0; - out_6200830679267345445[204] = 0; - out_6200830679267345445[205] = 0; - out_6200830679267345445[206] = 0; - out_6200830679267345445[207] = 0; - out_6200830679267345445[208] = 0; - out_6200830679267345445[209] = 1; - out_6200830679267345445[210] = 0; - out_6200830679267345445[211] = 0; - out_6200830679267345445[212] = 0; - out_6200830679267345445[213] = 0; - out_6200830679267345445[214] = 0; - out_6200830679267345445[215] = 0; - out_6200830679267345445[216] = 0; - out_6200830679267345445[217] = 0; - out_6200830679267345445[218] = 0; - out_6200830679267345445[219] = 0; - out_6200830679267345445[220] = 0; - out_6200830679267345445[221] = 0; - out_6200830679267345445[222] = 0; - out_6200830679267345445[223] = 0; - out_6200830679267345445[224] = 0; - out_6200830679267345445[225] = 0; - out_6200830679267345445[226] = 0; - out_6200830679267345445[227] = 0; - out_6200830679267345445[228] = 1; - out_6200830679267345445[229] = 0; - out_6200830679267345445[230] = 0; - out_6200830679267345445[231] = 0; - out_6200830679267345445[232] = 0; - out_6200830679267345445[233] = 0; - out_6200830679267345445[234] = 0; - out_6200830679267345445[235] = 0; - out_6200830679267345445[236] = 0; - out_6200830679267345445[237] = 0; - out_6200830679267345445[238] = 0; - out_6200830679267345445[239] = 0; - out_6200830679267345445[240] = 0; - out_6200830679267345445[241] = 0; - out_6200830679267345445[242] = 0; - out_6200830679267345445[243] = 0; - out_6200830679267345445[244] = 0; - out_6200830679267345445[245] = 0; - out_6200830679267345445[246] = 0; - out_6200830679267345445[247] = 1; - out_6200830679267345445[248] = 0; - out_6200830679267345445[249] = 0; - out_6200830679267345445[250] = 0; - out_6200830679267345445[251] = 0; - out_6200830679267345445[252] = 0; - out_6200830679267345445[253] = 0; - out_6200830679267345445[254] = 0; - out_6200830679267345445[255] = 0; - out_6200830679267345445[256] = 0; - out_6200830679267345445[257] = 0; - out_6200830679267345445[258] = 0; - out_6200830679267345445[259] = 0; - out_6200830679267345445[260] = 0; - out_6200830679267345445[261] = 0; - out_6200830679267345445[262] = 0; - out_6200830679267345445[263] = 0; - out_6200830679267345445[264] = 0; - out_6200830679267345445[265] = 0; - out_6200830679267345445[266] = 1; - out_6200830679267345445[267] = 0; - out_6200830679267345445[268] = 0; - out_6200830679267345445[269] = 0; - out_6200830679267345445[270] = 0; - out_6200830679267345445[271] = 0; - out_6200830679267345445[272] = 0; - out_6200830679267345445[273] = 0; - out_6200830679267345445[274] = 0; - out_6200830679267345445[275] = 0; - out_6200830679267345445[276] = 0; - out_6200830679267345445[277] = 0; - out_6200830679267345445[278] = 0; - out_6200830679267345445[279] = 0; - out_6200830679267345445[280] = 0; - out_6200830679267345445[281] = 0; - out_6200830679267345445[282] = 0; - out_6200830679267345445[283] = 0; - out_6200830679267345445[284] = 0; - out_6200830679267345445[285] = 1; - out_6200830679267345445[286] = 0; - out_6200830679267345445[287] = 0; - out_6200830679267345445[288] = 0; - out_6200830679267345445[289] = 0; - out_6200830679267345445[290] = 0; - out_6200830679267345445[291] = 0; - out_6200830679267345445[292] = 0; - out_6200830679267345445[293] = 0; - out_6200830679267345445[294] = 0; - out_6200830679267345445[295] = 0; - out_6200830679267345445[296] = 0; - out_6200830679267345445[297] = 0; - out_6200830679267345445[298] = 0; - out_6200830679267345445[299] = 0; - out_6200830679267345445[300] = 0; - out_6200830679267345445[301] = 0; - out_6200830679267345445[302] = 0; - out_6200830679267345445[303] = 0; - out_6200830679267345445[304] = 1; - out_6200830679267345445[305] = 0; - out_6200830679267345445[306] = 0; - out_6200830679267345445[307] = 0; - out_6200830679267345445[308] = 0; - out_6200830679267345445[309] = 0; - out_6200830679267345445[310] = 0; - out_6200830679267345445[311] = 0; - out_6200830679267345445[312] = 0; - out_6200830679267345445[313] = 0; - out_6200830679267345445[314] = 0; - out_6200830679267345445[315] = 0; - out_6200830679267345445[316] = 0; - out_6200830679267345445[317] = 0; - out_6200830679267345445[318] = 0; - out_6200830679267345445[319] = 0; - out_6200830679267345445[320] = 0; - out_6200830679267345445[321] = 0; - out_6200830679267345445[322] = 0; - out_6200830679267345445[323] = 1; +void F_fun(double *state, double dt, double *out_4846751114242430980) { + out_4846751114242430980[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_4846751114242430980[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_4846751114242430980[2] = 0; + out_4846751114242430980[3] = 0; + out_4846751114242430980[4] = 0; + out_4846751114242430980[5] = 0; + out_4846751114242430980[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_4846751114242430980[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_4846751114242430980[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_4846751114242430980[9] = 0; + out_4846751114242430980[10] = 0; + out_4846751114242430980[11] = 0; + out_4846751114242430980[12] = 0; + out_4846751114242430980[13] = 0; + out_4846751114242430980[14] = 0; + out_4846751114242430980[15] = 0; + out_4846751114242430980[16] = 0; + out_4846751114242430980[17] = 0; + out_4846751114242430980[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_4846751114242430980[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_4846751114242430980[20] = 0; + out_4846751114242430980[21] = 0; + out_4846751114242430980[22] = 0; + out_4846751114242430980[23] = 0; + out_4846751114242430980[24] = 0; + out_4846751114242430980[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_4846751114242430980[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_4846751114242430980[27] = 0; + out_4846751114242430980[28] = 0; + out_4846751114242430980[29] = 0; + out_4846751114242430980[30] = 0; + out_4846751114242430980[31] = 0; + out_4846751114242430980[32] = 0; + out_4846751114242430980[33] = 0; + out_4846751114242430980[34] = 0; + out_4846751114242430980[35] = 0; + out_4846751114242430980[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_4846751114242430980[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_4846751114242430980[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_4846751114242430980[39] = 0; + out_4846751114242430980[40] = 0; + out_4846751114242430980[41] = 0; + out_4846751114242430980[42] = 0; + out_4846751114242430980[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_4846751114242430980[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_4846751114242430980[45] = 0; + out_4846751114242430980[46] = 0; + out_4846751114242430980[47] = 0; + out_4846751114242430980[48] = 0; + out_4846751114242430980[49] = 0; + out_4846751114242430980[50] = 0; + out_4846751114242430980[51] = 0; + out_4846751114242430980[52] = 0; + out_4846751114242430980[53] = 0; + out_4846751114242430980[54] = 0; + out_4846751114242430980[55] = 0; + out_4846751114242430980[56] = 0; + out_4846751114242430980[57] = 1; + out_4846751114242430980[58] = 0; + out_4846751114242430980[59] = 0; + out_4846751114242430980[60] = 0; + out_4846751114242430980[61] = 0; + out_4846751114242430980[62] = 0; + out_4846751114242430980[63] = 0; + out_4846751114242430980[64] = 0; + out_4846751114242430980[65] = 0; + out_4846751114242430980[66] = dt; + out_4846751114242430980[67] = 0; + out_4846751114242430980[68] = 0; + out_4846751114242430980[69] = 0; + out_4846751114242430980[70] = 0; + out_4846751114242430980[71] = 0; + out_4846751114242430980[72] = 0; + out_4846751114242430980[73] = 0; + out_4846751114242430980[74] = 0; + out_4846751114242430980[75] = 0; + out_4846751114242430980[76] = 1; + out_4846751114242430980[77] = 0; + out_4846751114242430980[78] = 0; + out_4846751114242430980[79] = 0; + out_4846751114242430980[80] = 0; + out_4846751114242430980[81] = 0; + out_4846751114242430980[82] = 0; + out_4846751114242430980[83] = 0; + out_4846751114242430980[84] = 0; + out_4846751114242430980[85] = dt; + out_4846751114242430980[86] = 0; + out_4846751114242430980[87] = 0; + out_4846751114242430980[88] = 0; + out_4846751114242430980[89] = 0; + out_4846751114242430980[90] = 0; + out_4846751114242430980[91] = 0; + out_4846751114242430980[92] = 0; + out_4846751114242430980[93] = 0; + out_4846751114242430980[94] = 0; + out_4846751114242430980[95] = 1; + out_4846751114242430980[96] = 0; + out_4846751114242430980[97] = 0; + out_4846751114242430980[98] = 0; + out_4846751114242430980[99] = 0; + out_4846751114242430980[100] = 0; + out_4846751114242430980[101] = 0; + out_4846751114242430980[102] = 0; + out_4846751114242430980[103] = 0; + out_4846751114242430980[104] = dt; + out_4846751114242430980[105] = 0; + out_4846751114242430980[106] = 0; + out_4846751114242430980[107] = 0; + out_4846751114242430980[108] = 0; + out_4846751114242430980[109] = 0; + out_4846751114242430980[110] = 0; + out_4846751114242430980[111] = 0; + out_4846751114242430980[112] = 0; + out_4846751114242430980[113] = 0; + out_4846751114242430980[114] = 1; + out_4846751114242430980[115] = 0; + out_4846751114242430980[116] = 0; + out_4846751114242430980[117] = 0; + out_4846751114242430980[118] = 0; + out_4846751114242430980[119] = 0; + out_4846751114242430980[120] = 0; + out_4846751114242430980[121] = 0; + out_4846751114242430980[122] = 0; + out_4846751114242430980[123] = 0; + out_4846751114242430980[124] = 0; + out_4846751114242430980[125] = 0; + out_4846751114242430980[126] = 0; + out_4846751114242430980[127] = 0; + out_4846751114242430980[128] = 0; + out_4846751114242430980[129] = 0; + out_4846751114242430980[130] = 0; + out_4846751114242430980[131] = 0; + out_4846751114242430980[132] = 0; + out_4846751114242430980[133] = 1; + out_4846751114242430980[134] = 0; + out_4846751114242430980[135] = 0; + out_4846751114242430980[136] = 0; + out_4846751114242430980[137] = 0; + out_4846751114242430980[138] = 0; + out_4846751114242430980[139] = 0; + out_4846751114242430980[140] = 0; + out_4846751114242430980[141] = 0; + out_4846751114242430980[142] = 0; + out_4846751114242430980[143] = 0; + out_4846751114242430980[144] = 0; + out_4846751114242430980[145] = 0; + out_4846751114242430980[146] = 0; + out_4846751114242430980[147] = 0; + out_4846751114242430980[148] = 0; + out_4846751114242430980[149] = 0; + out_4846751114242430980[150] = 0; + out_4846751114242430980[151] = 0; + out_4846751114242430980[152] = 1; + out_4846751114242430980[153] = 0; + out_4846751114242430980[154] = 0; + out_4846751114242430980[155] = 0; + out_4846751114242430980[156] = 0; + out_4846751114242430980[157] = 0; + out_4846751114242430980[158] = 0; + out_4846751114242430980[159] = 0; + out_4846751114242430980[160] = 0; + out_4846751114242430980[161] = 0; + out_4846751114242430980[162] = 0; + out_4846751114242430980[163] = 0; + out_4846751114242430980[164] = 0; + out_4846751114242430980[165] = 0; + out_4846751114242430980[166] = 0; + out_4846751114242430980[167] = 0; + out_4846751114242430980[168] = 0; + out_4846751114242430980[169] = 0; + out_4846751114242430980[170] = 0; + out_4846751114242430980[171] = 1; + out_4846751114242430980[172] = 0; + out_4846751114242430980[173] = 0; + out_4846751114242430980[174] = 0; + out_4846751114242430980[175] = 0; + out_4846751114242430980[176] = 0; + out_4846751114242430980[177] = 0; + out_4846751114242430980[178] = 0; + out_4846751114242430980[179] = 0; + out_4846751114242430980[180] = 0; + out_4846751114242430980[181] = 0; + out_4846751114242430980[182] = 0; + out_4846751114242430980[183] = 0; + out_4846751114242430980[184] = 0; + out_4846751114242430980[185] = 0; + out_4846751114242430980[186] = 0; + out_4846751114242430980[187] = 0; + out_4846751114242430980[188] = 0; + out_4846751114242430980[189] = 0; + out_4846751114242430980[190] = 1; + out_4846751114242430980[191] = 0; + out_4846751114242430980[192] = 0; + out_4846751114242430980[193] = 0; + out_4846751114242430980[194] = 0; + out_4846751114242430980[195] = 0; + out_4846751114242430980[196] = 0; + out_4846751114242430980[197] = 0; + out_4846751114242430980[198] = 0; + out_4846751114242430980[199] = 0; + out_4846751114242430980[200] = 0; + out_4846751114242430980[201] = 0; + out_4846751114242430980[202] = 0; + out_4846751114242430980[203] = 0; + out_4846751114242430980[204] = 0; + out_4846751114242430980[205] = 0; + out_4846751114242430980[206] = 0; + out_4846751114242430980[207] = 0; + out_4846751114242430980[208] = 0; + out_4846751114242430980[209] = 1; + out_4846751114242430980[210] = 0; + out_4846751114242430980[211] = 0; + out_4846751114242430980[212] = 0; + out_4846751114242430980[213] = 0; + out_4846751114242430980[214] = 0; + out_4846751114242430980[215] = 0; + out_4846751114242430980[216] = 0; + out_4846751114242430980[217] = 0; + out_4846751114242430980[218] = 0; + out_4846751114242430980[219] = 0; + out_4846751114242430980[220] = 0; + out_4846751114242430980[221] = 0; + out_4846751114242430980[222] = 0; + out_4846751114242430980[223] = 0; + out_4846751114242430980[224] = 0; + out_4846751114242430980[225] = 0; + out_4846751114242430980[226] = 0; + out_4846751114242430980[227] = 0; + out_4846751114242430980[228] = 1; + out_4846751114242430980[229] = 0; + out_4846751114242430980[230] = 0; + out_4846751114242430980[231] = 0; + out_4846751114242430980[232] = 0; + out_4846751114242430980[233] = 0; + out_4846751114242430980[234] = 0; + out_4846751114242430980[235] = 0; + out_4846751114242430980[236] = 0; + out_4846751114242430980[237] = 0; + out_4846751114242430980[238] = 0; + out_4846751114242430980[239] = 0; + out_4846751114242430980[240] = 0; + out_4846751114242430980[241] = 0; + out_4846751114242430980[242] = 0; + out_4846751114242430980[243] = 0; + out_4846751114242430980[244] = 0; + out_4846751114242430980[245] = 0; + out_4846751114242430980[246] = 0; + out_4846751114242430980[247] = 1; + out_4846751114242430980[248] = 0; + out_4846751114242430980[249] = 0; + out_4846751114242430980[250] = 0; + out_4846751114242430980[251] = 0; + out_4846751114242430980[252] = 0; + out_4846751114242430980[253] = 0; + out_4846751114242430980[254] = 0; + out_4846751114242430980[255] = 0; + out_4846751114242430980[256] = 0; + out_4846751114242430980[257] = 0; + out_4846751114242430980[258] = 0; + out_4846751114242430980[259] = 0; + out_4846751114242430980[260] = 0; + out_4846751114242430980[261] = 0; + out_4846751114242430980[262] = 0; + out_4846751114242430980[263] = 0; + out_4846751114242430980[264] = 0; + out_4846751114242430980[265] = 0; + out_4846751114242430980[266] = 1; + out_4846751114242430980[267] = 0; + out_4846751114242430980[268] = 0; + out_4846751114242430980[269] = 0; + out_4846751114242430980[270] = 0; + out_4846751114242430980[271] = 0; + out_4846751114242430980[272] = 0; + out_4846751114242430980[273] = 0; + out_4846751114242430980[274] = 0; + out_4846751114242430980[275] = 0; + out_4846751114242430980[276] = 0; + out_4846751114242430980[277] = 0; + out_4846751114242430980[278] = 0; + out_4846751114242430980[279] = 0; + out_4846751114242430980[280] = 0; + out_4846751114242430980[281] = 0; + out_4846751114242430980[282] = 0; + out_4846751114242430980[283] = 0; + out_4846751114242430980[284] = 0; + out_4846751114242430980[285] = 1; + out_4846751114242430980[286] = 0; + out_4846751114242430980[287] = 0; + out_4846751114242430980[288] = 0; + out_4846751114242430980[289] = 0; + out_4846751114242430980[290] = 0; + out_4846751114242430980[291] = 0; + out_4846751114242430980[292] = 0; + out_4846751114242430980[293] = 0; + out_4846751114242430980[294] = 0; + out_4846751114242430980[295] = 0; + out_4846751114242430980[296] = 0; + out_4846751114242430980[297] = 0; + out_4846751114242430980[298] = 0; + out_4846751114242430980[299] = 0; + out_4846751114242430980[300] = 0; + out_4846751114242430980[301] = 0; + out_4846751114242430980[302] = 0; + out_4846751114242430980[303] = 0; + out_4846751114242430980[304] = 1; + out_4846751114242430980[305] = 0; + out_4846751114242430980[306] = 0; + out_4846751114242430980[307] = 0; + out_4846751114242430980[308] = 0; + out_4846751114242430980[309] = 0; + out_4846751114242430980[310] = 0; + out_4846751114242430980[311] = 0; + out_4846751114242430980[312] = 0; + out_4846751114242430980[313] = 0; + out_4846751114242430980[314] = 0; + out_4846751114242430980[315] = 0; + out_4846751114242430980[316] = 0; + out_4846751114242430980[317] = 0; + out_4846751114242430980[318] = 0; + out_4846751114242430980[319] = 0; + out_4846751114242430980[320] = 0; + out_4846751114242430980[321] = 0; + out_4846751114242430980[322] = 0; + out_4846751114242430980[323] = 1; } -void h_4(double *state, double *unused, double *out_2281311047032518481) { - out_2281311047032518481[0] = state[6] + state[9]; - out_2281311047032518481[1] = state[7] + state[10]; - out_2281311047032518481[2] = state[8] + state[11]; +void h_4(double *state, double *unused, double *out_5930999592870125556) { + out_5930999592870125556[0] = state[6] + state[9]; + out_5930999592870125556[1] = state[7] + state[10]; + out_5930999592870125556[2] = state[8] + state[11]; } -void H_4(double *state, double *unused, double *out_1022733465120271490) { - out_1022733465120271490[0] = 0; - out_1022733465120271490[1] = 0; - out_1022733465120271490[2] = 0; - out_1022733465120271490[3] = 0; - out_1022733465120271490[4] = 0; - out_1022733465120271490[5] = 0; - out_1022733465120271490[6] = 1; - out_1022733465120271490[7] = 0; - out_1022733465120271490[8] = 0; - out_1022733465120271490[9] = 1; - out_1022733465120271490[10] = 0; - out_1022733465120271490[11] = 0; - out_1022733465120271490[12] = 0; - out_1022733465120271490[13] = 0; - out_1022733465120271490[14] = 0; - out_1022733465120271490[15] = 0; - out_1022733465120271490[16] = 0; - out_1022733465120271490[17] = 0; - out_1022733465120271490[18] = 0; - out_1022733465120271490[19] = 0; - out_1022733465120271490[20] = 0; - out_1022733465120271490[21] = 0; - out_1022733465120271490[22] = 0; - out_1022733465120271490[23] = 0; - out_1022733465120271490[24] = 0; - out_1022733465120271490[25] = 1; - out_1022733465120271490[26] = 0; - out_1022733465120271490[27] = 0; - out_1022733465120271490[28] = 1; - out_1022733465120271490[29] = 0; - out_1022733465120271490[30] = 0; - out_1022733465120271490[31] = 0; - out_1022733465120271490[32] = 0; - out_1022733465120271490[33] = 0; - out_1022733465120271490[34] = 0; - out_1022733465120271490[35] = 0; - out_1022733465120271490[36] = 0; - out_1022733465120271490[37] = 0; - out_1022733465120271490[38] = 0; - out_1022733465120271490[39] = 0; - out_1022733465120271490[40] = 0; - out_1022733465120271490[41] = 0; - out_1022733465120271490[42] = 0; - out_1022733465120271490[43] = 0; - out_1022733465120271490[44] = 1; - out_1022733465120271490[45] = 0; - out_1022733465120271490[46] = 0; - out_1022733465120271490[47] = 1; - out_1022733465120271490[48] = 0; - out_1022733465120271490[49] = 0; - out_1022733465120271490[50] = 0; - out_1022733465120271490[51] = 0; - out_1022733465120271490[52] = 0; - out_1022733465120271490[53] = 0; +void H_4(double *state, double *unused, double *out_5602157340699375302) { + out_5602157340699375302[0] = 0; + out_5602157340699375302[1] = 0; + out_5602157340699375302[2] = 0; + out_5602157340699375302[3] = 0; + out_5602157340699375302[4] = 0; + out_5602157340699375302[5] = 0; + out_5602157340699375302[6] = 1; + out_5602157340699375302[7] = 0; + out_5602157340699375302[8] = 0; + out_5602157340699375302[9] = 1; + out_5602157340699375302[10] = 0; + out_5602157340699375302[11] = 0; + out_5602157340699375302[12] = 0; + out_5602157340699375302[13] = 0; + out_5602157340699375302[14] = 0; + out_5602157340699375302[15] = 0; + out_5602157340699375302[16] = 0; + out_5602157340699375302[17] = 0; + out_5602157340699375302[18] = 0; + out_5602157340699375302[19] = 0; + out_5602157340699375302[20] = 0; + out_5602157340699375302[21] = 0; + out_5602157340699375302[22] = 0; + out_5602157340699375302[23] = 0; + out_5602157340699375302[24] = 0; + out_5602157340699375302[25] = 1; + out_5602157340699375302[26] = 0; + out_5602157340699375302[27] = 0; + out_5602157340699375302[28] = 1; + out_5602157340699375302[29] = 0; + out_5602157340699375302[30] = 0; + out_5602157340699375302[31] = 0; + out_5602157340699375302[32] = 0; + out_5602157340699375302[33] = 0; + out_5602157340699375302[34] = 0; + out_5602157340699375302[35] = 0; + out_5602157340699375302[36] = 0; + out_5602157340699375302[37] = 0; + out_5602157340699375302[38] = 0; + out_5602157340699375302[39] = 0; + out_5602157340699375302[40] = 0; + out_5602157340699375302[41] = 0; + out_5602157340699375302[42] = 0; + out_5602157340699375302[43] = 0; + out_5602157340699375302[44] = 1; + out_5602157340699375302[45] = 0; + out_5602157340699375302[46] = 0; + out_5602157340699375302[47] = 1; + out_5602157340699375302[48] = 0; + out_5602157340699375302[49] = 0; + out_5602157340699375302[50] = 0; + out_5602157340699375302[51] = 0; + out_5602157340699375302[52] = 0; + out_5602157340699375302[53] = 0; } -void h_10(double *state, double *unused, double *out_7298821485634386065) { - out_7298821485634386065[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; - out_7298821485634386065[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; - out_7298821485634386065[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_5557120776990141355) { + out_5557120776990141355[0] = 9.8100000000000005*sin(state[1]) - state[4]*state[8] + state[5]*state[7] + state[12] + state[15]; + out_5557120776990141355[1] = -9.8100000000000005*sin(state[0])*cos(state[1]) + state[3]*state[8] - state[5]*state[6] + state[13] + state[16]; + out_5557120776990141355[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_4580916266697147042) { - out_4580916266697147042[0] = 0; - out_4580916266697147042[1] = 9.8100000000000005*cos(state[1]); - out_4580916266697147042[2] = 0; - out_4580916266697147042[3] = 0; - out_4580916266697147042[4] = -state[8]; - out_4580916266697147042[5] = state[7]; - out_4580916266697147042[6] = 0; - out_4580916266697147042[7] = state[5]; - out_4580916266697147042[8] = -state[4]; - out_4580916266697147042[9] = 0; - out_4580916266697147042[10] = 0; - out_4580916266697147042[11] = 0; - out_4580916266697147042[12] = 1; - out_4580916266697147042[13] = 0; - out_4580916266697147042[14] = 0; - out_4580916266697147042[15] = 1; - out_4580916266697147042[16] = 0; - out_4580916266697147042[17] = 0; - out_4580916266697147042[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); - out_4580916266697147042[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); - out_4580916266697147042[20] = 0; - out_4580916266697147042[21] = state[8]; - out_4580916266697147042[22] = 0; - out_4580916266697147042[23] = -state[6]; - out_4580916266697147042[24] = -state[5]; - out_4580916266697147042[25] = 0; - out_4580916266697147042[26] = state[3]; - out_4580916266697147042[27] = 0; - out_4580916266697147042[28] = 0; - out_4580916266697147042[29] = 0; - out_4580916266697147042[30] = 0; - out_4580916266697147042[31] = 1; - out_4580916266697147042[32] = 0; - out_4580916266697147042[33] = 0; - out_4580916266697147042[34] = 1; - out_4580916266697147042[35] = 0; - out_4580916266697147042[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); - out_4580916266697147042[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); - out_4580916266697147042[38] = 0; - out_4580916266697147042[39] = -state[7]; - out_4580916266697147042[40] = state[6]; - out_4580916266697147042[41] = 0; - out_4580916266697147042[42] = state[4]; - out_4580916266697147042[43] = -state[3]; - out_4580916266697147042[44] = 0; - out_4580916266697147042[45] = 0; - out_4580916266697147042[46] = 0; - out_4580916266697147042[47] = 0; - out_4580916266697147042[48] = 0; - out_4580916266697147042[49] = 0; - out_4580916266697147042[50] = 1; - out_4580916266697147042[51] = 0; - out_4580916266697147042[52] = 0; - out_4580916266697147042[53] = 1; +void H_10(double *state, double *unused, double *out_1023238183635137507) { + out_1023238183635137507[0] = 0; + out_1023238183635137507[1] = 9.8100000000000005*cos(state[1]); + out_1023238183635137507[2] = 0; + out_1023238183635137507[3] = 0; + out_1023238183635137507[4] = -state[8]; + out_1023238183635137507[5] = state[7]; + out_1023238183635137507[6] = 0; + out_1023238183635137507[7] = state[5]; + out_1023238183635137507[8] = -state[4]; + out_1023238183635137507[9] = 0; + out_1023238183635137507[10] = 0; + out_1023238183635137507[11] = 0; + out_1023238183635137507[12] = 1; + out_1023238183635137507[13] = 0; + out_1023238183635137507[14] = 0; + out_1023238183635137507[15] = 1; + out_1023238183635137507[16] = 0; + out_1023238183635137507[17] = 0; + out_1023238183635137507[18] = -9.8100000000000005*cos(state[0])*cos(state[1]); + out_1023238183635137507[19] = 9.8100000000000005*sin(state[0])*sin(state[1]); + out_1023238183635137507[20] = 0; + out_1023238183635137507[21] = state[8]; + out_1023238183635137507[22] = 0; + out_1023238183635137507[23] = -state[6]; + out_1023238183635137507[24] = -state[5]; + out_1023238183635137507[25] = 0; + out_1023238183635137507[26] = state[3]; + out_1023238183635137507[27] = 0; + out_1023238183635137507[28] = 0; + out_1023238183635137507[29] = 0; + out_1023238183635137507[30] = 0; + out_1023238183635137507[31] = 1; + out_1023238183635137507[32] = 0; + out_1023238183635137507[33] = 0; + out_1023238183635137507[34] = 1; + out_1023238183635137507[35] = 0; + out_1023238183635137507[36] = 9.8100000000000005*sin(state[0])*cos(state[1]); + out_1023238183635137507[37] = 9.8100000000000005*sin(state[1])*cos(state[0]); + out_1023238183635137507[38] = 0; + out_1023238183635137507[39] = -state[7]; + out_1023238183635137507[40] = state[6]; + out_1023238183635137507[41] = 0; + out_1023238183635137507[42] = state[4]; + out_1023238183635137507[43] = -state[3]; + out_1023238183635137507[44] = 0; + out_1023238183635137507[45] = 0; + out_1023238183635137507[46] = 0; + out_1023238183635137507[47] = 0; + out_1023238183635137507[48] = 0; + out_1023238183635137507[49] = 0; + out_1023238183635137507[50] = 1; + out_1023238183635137507[51] = 0; + out_1023238183635137507[52] = 0; + out_1023238183635137507[53] = 1; } -void h_13(double *state, double *unused, double *out_1884508169225221663) { - out_1884508169225221663[0] = state[3]; - out_1884508169225221663[1] = state[4]; - out_1884508169225221663[2] = state[5]; +void h_13(double *state, double *unused, double *out_6353105533166408740) { + out_6353105533166408740[0] = state[3]; + out_6353105533166408740[1] = state[4]; + out_6353105533166408740[2] = state[5]; } -void H_13(double *state, double *unused, double *out_2189540360212061311) { - out_2189540360212061311[0] = 0; - out_2189540360212061311[1] = 0; - out_2189540360212061311[2] = 0; - out_2189540360212061311[3] = 1; - out_2189540360212061311[4] = 0; - out_2189540360212061311[5] = 0; - out_2189540360212061311[6] = 0; - out_2189540360212061311[7] = 0; - out_2189540360212061311[8] = 0; - out_2189540360212061311[9] = 0; - out_2189540360212061311[10] = 0; - out_2189540360212061311[11] = 0; - out_2189540360212061311[12] = 0; - out_2189540360212061311[13] = 0; - out_2189540360212061311[14] = 0; - out_2189540360212061311[15] = 0; - out_2189540360212061311[16] = 0; - out_2189540360212061311[17] = 0; - out_2189540360212061311[18] = 0; - out_2189540360212061311[19] = 0; - out_2189540360212061311[20] = 0; - out_2189540360212061311[21] = 0; - out_2189540360212061311[22] = 1; - out_2189540360212061311[23] = 0; - out_2189540360212061311[24] = 0; - out_2189540360212061311[25] = 0; - out_2189540360212061311[26] = 0; - out_2189540360212061311[27] = 0; - out_2189540360212061311[28] = 0; - out_2189540360212061311[29] = 0; - out_2189540360212061311[30] = 0; - out_2189540360212061311[31] = 0; - out_2189540360212061311[32] = 0; - out_2189540360212061311[33] = 0; - out_2189540360212061311[34] = 0; - out_2189540360212061311[35] = 0; - out_2189540360212061311[36] = 0; - out_2189540360212061311[37] = 0; - out_2189540360212061311[38] = 0; - out_2189540360212061311[39] = 0; - out_2189540360212061311[40] = 0; - out_2189540360212061311[41] = 1; - out_2189540360212061311[42] = 0; - out_2189540360212061311[43] = 0; - out_2189540360212061311[44] = 0; - out_2189540360212061311[45] = 0; - out_2189540360212061311[46] = 0; - out_2189540360212061311[47] = 0; - out_2189540360212061311[48] = 0; - out_2189540360212061311[49] = 0; - out_2189540360212061311[50] = 0; - out_2189540360212061311[51] = 0; - out_2189540360212061311[52] = 0; - out_2189540360212061311[53] = 0; +void H_13(double *state, double *unused, double *out_2008473867617325627) { + out_2008473867617325627[0] = 0; + out_2008473867617325627[1] = 0; + out_2008473867617325627[2] = 0; + out_2008473867617325627[3] = 1; + out_2008473867617325627[4] = 0; + out_2008473867617325627[5] = 0; + out_2008473867617325627[6] = 0; + out_2008473867617325627[7] = 0; + out_2008473867617325627[8] = 0; + out_2008473867617325627[9] = 0; + out_2008473867617325627[10] = 0; + out_2008473867617325627[11] = 0; + out_2008473867617325627[12] = 0; + out_2008473867617325627[13] = 0; + out_2008473867617325627[14] = 0; + out_2008473867617325627[15] = 0; + out_2008473867617325627[16] = 0; + out_2008473867617325627[17] = 0; + out_2008473867617325627[18] = 0; + out_2008473867617325627[19] = 0; + out_2008473867617325627[20] = 0; + out_2008473867617325627[21] = 0; + out_2008473867617325627[22] = 1; + out_2008473867617325627[23] = 0; + out_2008473867617325627[24] = 0; + out_2008473867617325627[25] = 0; + out_2008473867617325627[26] = 0; + out_2008473867617325627[27] = 0; + out_2008473867617325627[28] = 0; + out_2008473867617325627[29] = 0; + out_2008473867617325627[30] = 0; + out_2008473867617325627[31] = 0; + out_2008473867617325627[32] = 0; + out_2008473867617325627[33] = 0; + out_2008473867617325627[34] = 0; + out_2008473867617325627[35] = 0; + out_2008473867617325627[36] = 0; + out_2008473867617325627[37] = 0; + out_2008473867617325627[38] = 0; + out_2008473867617325627[39] = 0; + out_2008473867617325627[40] = 0; + out_2008473867617325627[41] = 1; + out_2008473867617325627[42] = 0; + out_2008473867617325627[43] = 0; + out_2008473867617325627[44] = 0; + out_2008473867617325627[45] = 0; + out_2008473867617325627[46] = 0; + out_2008473867617325627[47] = 0; + out_2008473867617325627[48] = 0; + out_2008473867617325627[49] = 0; + out_2008473867617325627[50] = 0; + out_2008473867617325627[51] = 0; + out_2008473867617325627[52] = 0; + out_2008473867617325627[53] = 0; } -void h_14(double *state, double *unused, double *out_1873182816391455999) { - out_1873182816391455999[0] = state[6]; - out_1873182816391455999[1] = state[7]; - out_1873182816391455999[2] = state[8]; +void h_14(double *state, double *unused, double *out_3322199193100514196) { + out_3322199193100514196[0] = state[6]; + out_3322199193100514196[1] = state[7]; + out_3322199193100514196[2] = state[8]; } -void H_14(double *state, double *unused, double *out_2940507391219213039) { - out_2940507391219213039[0] = 0; - out_2940507391219213039[1] = 0; - out_2940507391219213039[2] = 0; - out_2940507391219213039[3] = 0; - out_2940507391219213039[4] = 0; - out_2940507391219213039[5] = 0; - out_2940507391219213039[6] = 1; - out_2940507391219213039[7] = 0; - out_2940507391219213039[8] = 0; - out_2940507391219213039[9] = 0; - out_2940507391219213039[10] = 0; - out_2940507391219213039[11] = 0; - out_2940507391219213039[12] = 0; - out_2940507391219213039[13] = 0; - out_2940507391219213039[14] = 0; - out_2940507391219213039[15] = 0; - out_2940507391219213039[16] = 0; - out_2940507391219213039[17] = 0; - out_2940507391219213039[18] = 0; - out_2940507391219213039[19] = 0; - out_2940507391219213039[20] = 0; - out_2940507391219213039[21] = 0; - out_2940507391219213039[22] = 0; - out_2940507391219213039[23] = 0; - out_2940507391219213039[24] = 0; - out_2940507391219213039[25] = 1; - out_2940507391219213039[26] = 0; - out_2940507391219213039[27] = 0; - out_2940507391219213039[28] = 0; - out_2940507391219213039[29] = 0; - out_2940507391219213039[30] = 0; - out_2940507391219213039[31] = 0; - out_2940507391219213039[32] = 0; - out_2940507391219213039[33] = 0; - out_2940507391219213039[34] = 0; - out_2940507391219213039[35] = 0; - out_2940507391219213039[36] = 0; - out_2940507391219213039[37] = 0; - out_2940507391219213039[38] = 0; - out_2940507391219213039[39] = 0; - out_2940507391219213039[40] = 0; - out_2940507391219213039[41] = 0; - out_2940507391219213039[42] = 0; - out_2940507391219213039[43] = 0; - out_2940507391219213039[44] = 1; - out_2940507391219213039[45] = 0; - out_2940507391219213039[46] = 0; - out_2940507391219213039[47] = 0; - out_2940507391219213039[48] = 0; - out_2940507391219213039[49] = 0; - out_2940507391219213039[50] = 0; - out_2940507391219213039[51] = 0; - out_2940507391219213039[52] = 0; - out_2940507391219213039[53] = 0; +void H_14(double *state, double *unused, double *out_8684945772994747598) { + out_8684945772994747598[0] = 0; + out_8684945772994747598[1] = 0; + out_8684945772994747598[2] = 0; + out_8684945772994747598[3] = 0; + out_8684945772994747598[4] = 0; + out_8684945772994747598[5] = 0; + out_8684945772994747598[6] = 1; + out_8684945772994747598[7] = 0; + out_8684945772994747598[8] = 0; + out_8684945772994747598[9] = 0; + out_8684945772994747598[10] = 0; + out_8684945772994747598[11] = 0; + out_8684945772994747598[12] = 0; + out_8684945772994747598[13] = 0; + out_8684945772994747598[14] = 0; + out_8684945772994747598[15] = 0; + out_8684945772994747598[16] = 0; + out_8684945772994747598[17] = 0; + out_8684945772994747598[18] = 0; + out_8684945772994747598[19] = 0; + out_8684945772994747598[20] = 0; + out_8684945772994747598[21] = 0; + out_8684945772994747598[22] = 0; + out_8684945772994747598[23] = 0; + out_8684945772994747598[24] = 0; + out_8684945772994747598[25] = 1; + out_8684945772994747598[26] = 0; + out_8684945772994747598[27] = 0; + out_8684945772994747598[28] = 0; + out_8684945772994747598[29] = 0; + out_8684945772994747598[30] = 0; + out_8684945772994747598[31] = 0; + out_8684945772994747598[32] = 0; + out_8684945772994747598[33] = 0; + out_8684945772994747598[34] = 0; + out_8684945772994747598[35] = 0; + out_8684945772994747598[36] = 0; + out_8684945772994747598[37] = 0; + out_8684945772994747598[38] = 0; + out_8684945772994747598[39] = 0; + out_8684945772994747598[40] = 0; + out_8684945772994747598[41] = 0; + out_8684945772994747598[42] = 0; + out_8684945772994747598[43] = 0; + out_8684945772994747598[44] = 1; + out_8684945772994747598[45] = 0; + out_8684945772994747598[46] = 0; + out_8684945772994747598[47] = 0; + out_8684945772994747598[48] = 0; + out_8684945772994747598[49] = 0; + out_8684945772994747598[50] = 0; + out_8684945772994747598[51] = 0; + out_8684945772994747598[52] = 0; + out_8684945772994747598[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_3037457306540495367) { - err_fun(nom_x, delta_x, out_3037457306540495367); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3585092682791090136) { + err_fun(nom_x, delta_x, out_3585092682791090136); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146) { - inv_err_fun(nom_x, true_x, out_5504742843249496146); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3602092163882833613) { + inv_err_fun(nom_x, true_x, out_3602092163882833613); } -void pose_H_mod_fun(double *state, double *out_4825348341631687231) { - H_mod_fun(state, out_4825348341631687231); +void pose_H_mod_fun(double *state, double *out_9072779523166268742) { + H_mod_fun(state, out_9072779523166268742); } -void pose_f_fun(double *state, double dt, double *out_6515554172087681296) { - f_fun(state, dt, out_6515554172087681296); +void pose_f_fun(double *state, double dt, double *out_8675559756142309217) { + f_fun(state, dt, out_8675559756142309217); } -void pose_F_fun(double *state, double dt, double *out_6200830679267345445) { - F_fun(state, dt, out_6200830679267345445); +void pose_F_fun(double *state, double dt, double *out_4846751114242430980) { + F_fun(state, dt, out_4846751114242430980); } -void pose_h_4(double *state, double *unused, double *out_2281311047032518481) { - h_4(state, unused, out_2281311047032518481); +void pose_h_4(double *state, double *unused, double *out_5930999592870125556) { + h_4(state, unused, out_5930999592870125556); } -void pose_H_4(double *state, double *unused, double *out_1022733465120271490) { - H_4(state, unused, out_1022733465120271490); +void pose_H_4(double *state, double *unused, double *out_5602157340699375302) { + H_4(state, unused, out_5602157340699375302); } -void pose_h_10(double *state, double *unused, double *out_7298821485634386065) { - h_10(state, unused, out_7298821485634386065); +void pose_h_10(double *state, double *unused, double *out_5557120776990141355) { + h_10(state, unused, out_5557120776990141355); } -void pose_H_10(double *state, double *unused, double *out_4580916266697147042) { - H_10(state, unused, out_4580916266697147042); +void pose_H_10(double *state, double *unused, double *out_1023238183635137507) { + H_10(state, unused, out_1023238183635137507); } -void pose_h_13(double *state, double *unused, double *out_1884508169225221663) { - h_13(state, unused, out_1884508169225221663); +void pose_h_13(double *state, double *unused, double *out_6353105533166408740) { + h_13(state, unused, out_6353105533166408740); } -void pose_H_13(double *state, double *unused, double *out_2189540360212061311) { - H_13(state, unused, out_2189540360212061311); +void pose_H_13(double *state, double *unused, double *out_2008473867617325627) { + H_13(state, unused, out_2008473867617325627); } -void pose_h_14(double *state, double *unused, double *out_1873182816391455999) { - h_14(state, unused, out_1873182816391455999); +void pose_h_14(double *state, double *unused, double *out_3322199193100514196) { + h_14(state, unused, out_3322199193100514196); } -void pose_H_14(double *state, double *unused, double *out_2940507391219213039) { - H_14(state, unused, out_2940507391219213039); +void pose_H_14(double *state, double *unused, double *out_8684945772994747598) { + H_14(state, unused, out_8684945772994747598); } 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 075735d0c..6bdec7a65 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_3037457306540495367); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5504742843249496146); -void pose_H_mod_fun(double *state, double *out_4825348341631687231); -void pose_f_fun(double *state, double dt, double *out_6515554172087681296); -void pose_F_fun(double *state, double dt, double *out_6200830679267345445); -void pose_h_4(double *state, double *unused, double *out_2281311047032518481); -void pose_H_4(double *state, double *unused, double *out_1022733465120271490); -void pose_h_10(double *state, double *unused, double *out_7298821485634386065); -void pose_H_10(double *state, double *unused, double *out_4580916266697147042); -void pose_h_13(double *state, double *unused, double *out_1884508169225221663); -void pose_H_13(double *state, double *unused, double *out_2189540360212061311); -void pose_h_14(double *state, double *unused, double *out_1873182816391455999); -void pose_H_14(double *state, double *unused, double *out_2940507391219213039); +void pose_err_fun(double *nom_x, double *delta_x, double *out_3585092682791090136); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3602092163882833613); +void pose_H_mod_fun(double *state, double *out_9072779523166268742); +void pose_f_fun(double *state, double dt, double *out_8675559756142309217); +void pose_F_fun(double *state, double dt, double *out_4846751114242430980); +void pose_h_4(double *state, double *unused, double *out_5930999592870125556); +void pose_H_4(double *state, double *unused, double *out_5602157340699375302); +void pose_h_10(double *state, double *unused, double *out_5557120776990141355); +void pose_H_10(double *state, double *unused, double *out_1023238183635137507); +void pose_h_13(double *state, double *unused, double *out_6353105533166408740); +void pose_H_13(double *state, double *unused, double *out_2008473867617325627); +void pose_h_14(double *state, double *unused, double *out_3322199193100514196); +void pose_H_14(double *state, double *unused, double *out_8684945772994747598); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 46a85d8594c8e63ec3a76dcb70cc5c6d5a146cdb..4f125e51423ab45bc8d17978bc53384254e119d2 100755 GIT binary patch delta 1126157 zcmaH!34B!L_4n`GWFRccK!8jF%CM+m%@9z-J}g35lo4r(pfDhq;heMqB3Y({GX-`#h8|7gci 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